JP2020520180A - Waveguide device and antenna device including the waveguide device - Google Patents

Abstract

The waveguide device is used to propagate an electromagnetic wave in a band in which the shortest wavelength in free space is λm. The waveguide device includes a first conductive member having a conductive surface and a first through hole, and a second conductive member that overlaps with the first through hole when viewed along the axial direction of the first through hole. Of a second conductive member having a through hole and a plurality of conductive rods, and a conductive property that is located with at least a part of a space between the first through hole and the second through hole interposed therebetween. And a pair of waveguide walls. The pair of waveguide walls are surrounded by the plurality of conductive rods and propagate electromagnetic waves between the first through hole and the second through hole. The height of each of the pair of waveguide walls is less than λm/2.

Description

The present disclosure relates to a waveguide device and an antenna device including the waveguide device.

Examples of a waveguide structure including an artificial magnetic conductor are disclosed in Patent Documents 1 to 3 and Non-Patent Documents 1 to 3. The artificial magnetic conductor is a structure that artificially realizes the property of a perfect magnetic conductor (PMC: Perfect Magnetic Conductor) that does not exist in nature. The perfect magnetic conductor has the property that the tangential component of the magnetic field on the surface becomes zero. This is a property opposite to the property of a perfect electric conductor (PEC), that is, "the tangential component of the electric field on the surface becomes zero". A perfect magnetic conductor does not exist in nature, but can be realized by an artificial structure such as an array of conductive rods. The artificial magnetic conductor functions as a perfect magnetic conductor in a specific frequency band determined by its structure. The artificial magnetic conductor suppresses or prevents an electromagnetic wave having a frequency included in a specific frequency band (propagation stop band) from propagating along the surface of the artificial magnetic conductor. Therefore, the surface of the artificial magnetic conductor is sometimes called a high impedance surface.

In the waveguide devices disclosed in Patent Documents 1 to 3 and Non-Patent Documents 1 to 3, the artificial magnetic conductor is realized by a plurality of conductive rods arranged in the row and column directions. Such rods are protrusions, sometimes called posts or pins. Each of these waveguide devices as a whole comprises a pair of opposing conductive plates. One conductive plate has a ridge protruding toward the other conductive plate and artificial magnetic conductors located on both sides of the ridge. The upper surface (surface having conductivity) of the ridge faces the conductive surface of the other conductive plate via the gap. An electromagnetic wave having a wavelength included in the propagation stop band of the artificial magnetic conductor propagates along the ridge in the space (gap) between the conductive surface and the upper surface of the ridge.

U.S. Pat. No. 8,779,995 US Pat. No. 8,803,638 European Patent Application Publication No. 1331688

H. Kirino and K. Ogawa, "A 76 GHz Multi-Layered Phased Array Antenna using a Non-Metal Contact Metamaterial Wavegude", IEEE Transaction on Antenna and Propagation, Vol. 60, No.2, pp. 840-853, February , 2012 A.Uz.Zaman and P.-S.Kildal, "Ku Band Linear Slot-Array in Ridge Gapwaveguide Technology, EUCAP 2013, 7th European Conference on Antenna and Propagation

According to the waveguide structures disclosed in Patent Documents 1 to 3 and Non-Patent Documents 1 and 2, a small antenna device can be realized as compared with the case of using the conventional hollow waveguide. However, as the antenna device becomes smaller, it becomes difficult to construct a feeding path for feeding each antenna element.

Embodiments of the present disclosure provide a waveguide device having a novel feeding structure suitable for a small antenna device.

The waveguide device according to one aspect of the present disclosure is used for propagation of an electromagnetic wave in a band in which the shortest wavelength is λm in free space. The waveguide device includes a first conductive member having a conductive surface and a first through hole, and a second conductive member that overlaps with the first through hole when viewed along the axial direction of the first through hole. A through hole, and a second conductive member having a plurality of conductive rods each having a tip end facing the conductive surface, and a space between the first through hole and the second through hole. A pair of electrically conductive waveguide walls sandwiching at least a part of them between them, surrounded by the plurality of electrically conductive rods, and between the first through hole and the second through hole. A pair of waveguide walls for propagating electromagnetic waves. A cross section of at least one of the first through hole and the second through hole, which is perpendicular to the axial direction, has a lateral portion extending in the first direction. When seen along the axial direction, the pair of waveguide walls are arranged in a second direction intersecting with the first direction and are located on both sides of a central portion of the lateral portion. At least one end of the pair of waveguide walls in the first direction and at least one end of the other of the pair of waveguide walls in the first direction face each other with a gap therebetween. doing. The height of each of the pair of waveguide walls is less than λm/2.

According to the embodiments of the present disclosure, an electromagnetic wave can be propagated through at least one waveguide layer via a pair of waveguide walls. In that case, other waveguiding layers or drive layers can be arranged above or below this waveguiding layer. Since unnecessary propagation in the intermediate layer can be suppressed, the degree of freedom in designing the waveguide device can be improved.

FIG. 1 is a perspective view schematically showing a non-limiting example of the basic configuration of the waveguide device. FIG. 2A is a diagram schematically showing the configuration of a cross section of the waveguide device 100 parallel to the XZ plane. FIG. 2B is a diagram schematically showing another configuration of the cross section of the waveguide device 100 parallel to the XZ plane. FIG. 3 is a perspective view schematically showing the waveguide device 100 in which the conductive member 110 and the conductive member 120 are extremely separated from each other for the sake of clarity. FIG. 4 is a diagram showing an example of a range of dimensions of each member in the structure shown in FIG. 2A. FIG. 5A is a diagram schematically showing an electromagnetic wave propagating in a narrow space in the gap between the waveguide surface 122 a of the waveguide member 122 and the conductive surface 110 a of the conductive member 110. FIG. 5B is a diagram schematically showing a cross section of the hollow waveguide 130. FIG. 5C is a cross-sectional view showing a mode in which two waveguide members 122 are provided on the conductive member 120. FIG. 5D is a diagram schematically showing a cross section of a waveguide device in which two hollow waveguides 130 are arranged side by side. FIG. 6A is a perspective view showing a waveguide structure of the phase shifter shown in FIG. 7 of Patent Document 1. FIG. 6B is a cross-sectional view showing the waveguide structure of the phase shifter shown in FIG. 8 of Patent Document 1. FIG. 7A is a perspective view schematically showing a part of the waveguide device 200 according to the first embodiment of the present disclosure. FIG. 7B is a perspective view showing the structure of the first conductive member 210 shown in FIG. 7A on the side facing the second conductive member 220. FIG. 7C is a perspective view showing the structure of the second conductive member 220 shown in FIG. 7A on the side facing the first conductive member 210. FIG. 7D is a top view showing the structure of the second conductive member 220 shown in FIG. 7A. FIG. 7E is a diagram schematically showing a cross section of the waveguide device 200 parallel to the YZ plane passing through the centers of the through holes 211 and 221. FIG. 8A is a cross-sectional view showing another configuration example of the pair of waveguide walls. FIG. 8B is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 8C is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 8D is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 8E is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 8F is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 8G is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 8H is a diagram showing a positional relationship of each part when the second waveguide member 220 in FIG. 8F is viewed from the +Z direction side. FIG. 9A is a diagram schematically showing another example of the shape of the XY cross section of the through hole 221. FIG. 9B is a diagram schematically showing still another example of the shape of the XY cross section of the through hole 221. FIG. 9C is a diagram schematically showing still another example of the shape of the XY cross section of the through hole 221. FIG. 9D is a cross-sectional view showing still another configuration example of the pair of waveguide walls. FIG. 9E is a perspective view showing the structure of the side of the first conductive member 210 shown in FIG. 9D that faces the second conductive member 220. FIG. 9F is a perspective view showing the structure of the side of the second conductive member 220 shown in FIG. 9D that faces the first conductive member 210. FIG. 9G is a top view showing the structure of the second conductive member 220 shown in FIG. 9D as seen from the +Z direction. FIG. 10 is a diagram for explaining the dimensions of the through holes 211 and 221 in more detail. FIG. 11: is a figure which shows typically an example of the intensity distribution of the electric field formed when the shape of an opening is H type. FIG. 12A is a diagram showing an example in which each of the pair of waveguide walls 203 has the same shape as each conductive rod 124. FIG. 12B is a diagram showing another example of the pair of waveguide walls 203. FIG. 12C is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12D is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12E is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12F is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12G is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12H is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12I is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12J is a diagram showing still another example of the pair of waveguide walls 203. FIG. 12K is a perspective view of the waveguide wall 203 in FIG. 12J. FIG. 12L is a diagram showing still another example of the pair of waveguide walls 203. FIG. 13 is a diagram showing another configuration example of the pair of waveguide walls. FIG. 14A is a diagram showing an example in which the second conductive member 220 has a plurality of sets of through holes 221 and a pair of waveguide walls 203. FIG. 14B is a diagram showing another example in which the second conductive member 220 has a plurality of sets of the through hole 221 and the pair of waveguide walls 203. FIG. 14C is a diagram showing still another example in which the second conductive member 220 has a plurality of sets of the through hole 221 and the pair of waveguide walls 203. FIG. 15A is a cross-sectional view showing an example in which a third conductive member 230 having a WRG structure is provided below the second conductive member 220. FIG. 15B is a cross-sectional view showing an example in which the WRG structure is provided above and below the second conductive member 220. FIG. 16 is a top view of the third conductive member 230 seen from the positive direction side of the Z axis. FIG. 17 is a cross-sectional view showing an example in which the WRG structure is provided on the first conductive member 210. FIG. 18 is a top view of the first conductive member 210 in FIG. 17 viewed from the positive side of the Z axis. FIG. 19 is a cross-sectional view showing a configuration example in which the configurations of FIGS. 15A and 17 are combined. FIG. 20A is a cross-sectional view schematically showing a configuration example of a waveguide device 200 capable of propagating an electromagnetic wave across two layers. FIG. 20B is a cross-sectional view schematically showing another configuration example of the waveguide device 200 capable of propagating an electromagnetic wave across two layers. FIG. 21 is a sectional view schematically showing a configuration example in which another waveguide is formed in the layer in which the waveguide wall 203 is arranged. 22 is a top view of the second conductive member 220 in the waveguide device 200 shown in FIG. 21, viewed from the positive side of the Z axis. FIG. 23A is a top view schematically showing the antenna device 300 of the second embodiment. 23B is a cross-sectional view taken along the line BB of FIG. 23A. FIG. 24A is a top view schematically showing a modified example of the antenna device 300 of the second embodiment. 24B is a cross-sectional view taken along the line BB of FIG. 24A. FIG. 25A is a diagram showing an example of an antenna device (array antenna) in which a plurality of slots (openings) are arranged. 25B is a cross-sectional view taken along the line BB of FIG. 25A. FIG. 26A is a diagram showing a planar layout of the waveguide member 122U and the conductive rod 124U in the first conductive member 210. FIG. 26B is a diagram showing a planar layout of the conductive rods 124M, the waveguide walls 203, and the through holes 221 in the second conductive member 220. FIG. 26C is a diagram showing a planar layout of the waveguide member 122L and the conductive rod 124L in the third conductive member 230. FIG. 26D is a perspective view showing one radiating element in the slot antenna device according to another modification of the second exemplary embodiment. FIG. 26E is a diagram showing the radiating element of FIG. 26D with the conductive member 110 and the other conductive member 160 separated from each other. FIG. 27A is a cross-sectional view showing an example of a structure in which only the waveguide surface 122a, which is the upper surface of the waveguide member 122, has conductivity, and the portions other than the waveguide surface 122a of the waveguide member 122 do not have conductivity. is there. FIG. 27B is a diagram showing a modified example in which the waveguide member 122 is not formed on the conductive member 120. FIG. 27C is a diagram showing an example of a structure in which each of the conductive member 120, the waveguide member 122, and the plurality of conductive rods 124 has a dielectric surface coated with a conductive material such as a metal. FIG. 27D is a diagram showing an example of a structure having dielectric layers 110c and 120c on the outermost surfaces of the conductive members 110 and 120, the waveguide member 122, and the conductive rod 124. FIG. 27E is a diagram showing another example of the structure having the dielectric layers 110 c and 120 c on the outermost surfaces of the conductive members 110 and 120, the waveguide member 122, and the conductive rod 124. 27F, the height of the waveguide member 122 is lower than the height of the conductive rod 124, and a portion of the conductive surface 110a of the conductive member 110 facing the waveguide surface 122a projects toward the waveguide member 122 side. FIG. FIG. 27G is a diagram showing an example in which, in the structure of FIG. 27F, a portion of the conductive surface 110a facing the conductive rod 124 further projects toward the conductive rod 124. FIG. 28A is a diagram showing an example in which the conductive surface 110a of the conductive member 110 has a curved shape. FIG. 28B is a diagram showing an example in which the conductive surface 120a of the conductive member 120 also has a curved shape. FIG. 29 is a diagram showing the host vehicle 500 and a preceding vehicle 502 traveling in the same lane as the host vehicle 500. FIG. 30 is a diagram showing an on-vehicle radar system 510 of the own vehicle 500. FIG. 31A is a diagram showing a relationship between the array antenna AA of the in-vehicle radar system 510 and a plurality of incoming waves k. FIG. 31B is a diagram showing an array antenna AA that receives the kth incoming wave. FIG. 32 is a block diagram showing an example of the basic configuration of the vehicle travel control device 600 according to the present disclosure. FIG. 33 is a block diagram showing another example of the configuration of the vehicle travel control device 600. FIG. 34 is a block diagram showing an example of a more specific configuration of the vehicle travel control device 600. FIG. 35 is a block diagram showing a more detailed configuration example of the radar system 510 in this application example. FIG. 36 is a diagram showing a frequency change of the transmission signal modulated based on the signal generated by the triangular wave generation circuit 581. FIG. 37 is a diagram showing the beat frequency fu in the “up” period and the beat frequency fd in the “down” period. FIG. 38 is a diagram illustrating an example of a form in which the signal processing circuit 560 is realized by hardware including the processor PR and the memory device MD. FIG. 39 is a diagram showing the relationship between the three frequencies f1, f2, and f3. FIG. 40 is a diagram showing the relationship between the synthetic spectra F1 to F3 on the complex plane. FIG. 41 is a flowchart showing a procedure of processing for obtaining the relative speed and the distance. FIG. 42 is a diagram showing a fusion device including a radar system 510 having a slot array antenna and an in-vehicle camera system 700. FIG. 43 is a diagram showing that the millimeter wave radar 510 and the camera are placed at substantially the same position in the vehicle compartment so that the respective fields of view and lines of sight coincide with each other and the collation process is facilitated. FIG. 44 is a diagram showing a configuration example of a monitoring system 1500 using a millimeter wave radar. FIG. 45 is a block diagram showing the configuration of the digital communication system 800A. FIG. 46 is a block diagram showing an example of a communication system 800B including a transmitter 810B capable of changing the radiation pattern of radio waves. FIG. 47 is a block diagram showing an example of a communication system 800C equipped with a MIMO function.

Before describing the embodiments of the present disclosure, the knowledge on which the present disclosure is based will be described.

The ridge waveguides disclosed in the above-mentioned Patent Documents 1 to 3 and Non-Patent Documents 1 and 2 are provided in a waffle iron structure that functions as an artificial magnetic conductor. A ridge waveguide (hereinafter, also referred to as WRG: Waffle-iron Ridge wave Guide) using such an artificial magnetic conductor according to the present disclosure is an antenna feed line with low loss in the microwave or millimeter wave band. Can be realized. By using such a ridge waveguide, it is possible to arrange the antenna elements at a high density. Hereinafter, an example of the basic configuration and operation of such a waveguide structure will be described.

The artificial magnetic conductor is a structure that artificially realizes the property of a perfect magnetic conductor (PMC: Perfect Magnetic Conductor) that does not exist in nature. The perfect magnetic conductor has the property that the tangential component of the magnetic field on the surface becomes zero. This is a property opposite to the property of a perfect electric conductor (PEC), that is, "the tangential component of the electric field on the surface becomes zero". A perfect magnetic conductor does not exist in nature, but can be realized by an artificial structure such as an array of conductive rods. The artificial magnetic conductor functions as a perfect magnetic conductor in a specific frequency band determined by its structure. The artificial magnetic conductor suppresses or prevents an electromagnetic wave having a frequency included in a specific frequency band (propagation stop band) from propagating along the surface of the artificial magnetic conductor. Therefore, the surface of the artificial magnetic conductor is sometimes called a high impedance surface.

In the waveguide devices disclosed in Patent Documents 1 to 3 and Non-Patent Documents 1 and 2, the artificial magnetic conductor is realized by a plurality of conductive rods arranged in the row and column directions. Such rods are protrusions, sometimes called posts or pins. Each of these waveguide devices as a whole comprises a pair of opposing conductive plates. One conductive plate has a ridge protruding toward the other conductive plate and artificial magnetic conductors located on both sides of the ridge. The upper surface (surface having conductivity) of the ridge faces the conductive surface of the other conductive plate via the gap. An electromagnetic wave (signal wave) having a wavelength included in the propagation stop band of the artificial magnetic conductor propagates along the ridge in the space (gap) between the conductive surface and the upper surface of the ridge.

FIG. 1 is a perspective view schematically showing a non-limiting example of the basic configuration of such a waveguide device. FIG. 1 shows XYZ coordinates indicating X, Y, and Z directions that are orthogonal to each other. The illustrated waveguide device 100 includes plate-shaped (plate-shaped) conductive members 110 and 120 that face each other and are arranged in parallel. A plurality of conductive rods 124 are arranged on the conductive member 120.

The orientations of the structures shown in the drawings of the present application are set in consideration of the intelligibility of the description, and do not limit the orientations when the embodiments of the present disclosure are actually carried out. Further, the shape and size of the whole or a part of the structure shown in the drawings do not limit the actual shape and size.

FIG. 2A is a diagram schematically showing the configuration of a cross section of the waveguide device 100 parallel to the XZ plane. As shown in FIG. 2A, the conductive member 110 has a conductive surface 110 a on the side facing the conductive member 120. The conductive surface 110a is two-dimensionally extended along a plane (plane parallel to the XY plane) orthogonal to the axial direction (Z direction) of the conductive rod 124. Although the conductive surface 110a in this example is a smooth flat surface, the conductive surface 110a need not be a flat surface, as described below.

FIG. 3 is a perspective view schematically showing the waveguide device 100 in which the conductive member 110 and the conductive member 120 are extremely separated from each other for the sake of easy understanding. In the actual waveguide device 100, as shown in FIGS. 1 and 2A, the gap between the conductive member 110 and the conductive member 120 is narrow, and the conductive member 110 covers all the conductive rods 124 of the conductive member 120. It is located in.

1 to 3 show only a part of the waveguide device 100. The conductive members 110, 120, the waveguide member 122, and the plurality of conductive rods 124 actually exist outside the illustrated portion. As described later, a choke structure that prevents electromagnetic waves from leaking to the external space is provided at the end of the waveguide member 122. The choke structure includes, for example, an array of conductive rods located adjacent the ends of the waveguide member 122.

Referring back to FIG. 2A. Each of the plurality of conductive rods 124 arranged on the conductive member 120 has a tip portion 124a facing the conductive surface 110a. In the example shown, the tips 124a of the plurality of conductive rods 124 are coplanar. This plane forms the surface 125 of the artificial magnetic conductor. The conductive rod 124 does not need to have conductivity as a whole, and may have a conductive layer extending along at least the upper surface and the side surface of the rod-shaped structure. This conductive layer may be located on the surface layer of the rod-shaped structure, but the surface layer may be an insulating coating or a resin layer, and the conductive layer may not be present on the surface of the rod-shaped structure. Further, the conductive member 120 does not need to have conductivity as a whole as long as it can support the plurality of conductive rods 124 and realize an artificial magnetic conductor. Of the surfaces of the conductive member 120, the surface 120a on the side where the plurality of conductive rods 124 are arranged has conductivity, and the surfaces of the adjacent conductive rods 124 are electrically connected by a conductor. Just do it. The conductive layer of the conductive member 120 may be covered with an insulating coating or a resin layer. In other words, the entire combination of the conductive member 120 and the plurality of conductive rods 124 may have the uneven conductive layer facing the conductive surface 110a of the conductive member 110.

On the conductive member 120, a ridge-shaped waveguide member 122 is arranged between a plurality of conductive rods 124. More specifically, the artificial magnetic conductors are located on both sides of the waveguide member 122, and the waveguide member 122 is sandwiched by the artificial magnetic conductors on both sides. As can be seen from FIG. 3, the waveguide member 122 in this example is supported by the conductive member 120 and extends linearly in the Y direction. In the illustrated example, the waveguide member 122 has the same height and width as the conductive rod 124. As described below, the height and width of the waveguide member 122 may have values different from the height and width of the conductive rods 124. Unlike the conductive rod 124, the waveguide member 122 extends along the conductive surface 110a in the direction of guiding electromagnetic waves (Y direction in this example). The waveguide member 122 does not have to be entirely conductive, and may have a conductive waveguide surface 122a facing the conductive surface 110a of the conductive member 110. The conductive member 120, the plurality of conductive rods 124, and the waveguide member 122 may be part of a continuous, unitary structure. Further, the conductive member 110 may also be part of this unitary structure.

On both sides of the waveguide member 122, the space between the surface 125 of each artificial magnetic conductor and the conductive surface 110a of the conductive member 110 does not propagate electromagnetic waves having a frequency within a specific frequency band. Such a frequency band is called a "forbidden band". The artificial magnetic conductor is designed such that the frequency of the electromagnetic wave (signal wave) propagating in the waveguide device 100 (hereinafter, also referred to as “operating frequency”) is included in the forbidden band. The forbidden zone is the height of the conductive rods 124, that is, the depth of the groove formed between the plurality of adjacent conductive rods 124, the width of the conductive rods 124, the arrangement interval, and the tips of the conductive rods 124. It can be adjusted by the size of the gap between the portion 124a and the conductive surface 110a.

Next, an example of the size, shape, arrangement, etc. of each member will be described with reference to FIG.

FIG. 4 is a diagram showing an example of a range of dimensions of each member in the structure shown in FIG. 2A. The waveguide device is used for at least one of transmission and reception of electromagnetic waves in a predetermined band (referred to as "operating frequency band"). In the present specification, a representative value of the wavelength in the free space of the electromagnetic wave (signal wave) propagating in the waveguide between the conductive surface 110a of the conductive member 110 and the waveguide surface 122a of the waveguide member 122 (for example, operating frequency band The central wavelength (corresponding to the central frequency of) is λo. Further, the wavelength in the free space of the electromagnetic wave having the highest frequency in the operating frequency band is λm. Of the conductive rods 124, the end portion that is in contact with the conductive member 120 is referred to as the “base”. As shown in FIG. 4, each conductive rod 124 has a tip portion 124a and a base portion 124b. Examples of the size, shape, arrangement, etc. of each member are as follows.

(1) Width of Conductive Rod The width (size in the X and Y directions) of the conductive rod 124 can be set to less than λm/2. Within this range, it is possible to prevent the lowest resonance from occurring in the X and Y directions. Since resonance may occur not only in the X and Y directions but also in the diagonal direction of the XY cross section, the length of the diagonal line of the XY cross section of the conductive rod 124 is preferably less than λm/2. The lower limits of the width of the rod and the length of the diagonal line are the minimum lengths that can be produced by the method, and are not particularly limited.

(2) Distance from the base of the conductive rod to the conductive surface of the conductive member 110 The distance from the base 124b of the conductive rod 124 to the conductive surface 110a of the conductive member 110 is longer than the height of the conductive rod 124, And can be set to less than λm/2. When the distance is λm/2 or more, resonance occurs between the base portion 124b of the conductive rod 124 and the conductive surface 110a, and the effect of confining the signal wave is lost.

The distance from the base portion 124b of the conductive rod 124 to the conductive surface 110a of the conductive member 110 corresponds to the distance between the conductive member 110 and the conductive member 120. For example, when a signal wave of 76.5±0.5 GHz, which is a millimeter wave band, propagates in the waveguide, the wavelength of the signal wave is within the range of 3.8934 mm to 3.9446 mm. Therefore, in this case, since λm is 3.8934 mm, the distance between the conductive member 110 and the conductive member 120 is designed to be smaller than half of 3.8934 mm. If the conductive member 110 and the conductive member 120 are arranged so as to face each other so as to realize such a narrow space, the conductive member 110 and the conductive member 120 do not need to be strictly parallel. In addition, if the distance between the conductive member 110 and the conductive member 120 is less than λm/2, the conductive member 110 and/or the conductive member 120 may be wholly or partially curved. On the other hand, the planar shape (the shape of the area projected perpendicular to the XY plane) and the planar size (the size of the area projected perpendicular to the XY plane) of conductive members 110 and 120 can be arbitrarily designed according to the application.

In the example shown in FIG. 2A, the conductive surface 120a is planar, but embodiments of the present disclosure are not so limited. For example, as shown in FIG. 2B, the conductive surface 120a may be the bottom of a surface having a U-shaped or V-shaped cross section. The conductive surface 120a has such a structure when the conductive rod 124 or the waveguide member 122 has a shape in which the width increases toward the base. Even with such a structure, as long as the distance between the conductive surface 110a and the conductive surface 120a is shorter than half the wavelength λm, the device shown in FIG. 2B is used as the waveguide device according to the embodiment of the present disclosure. Can work.

(3) Distance L2 from the tip of the conductive rod to the conductive surface
The distance L2 from the tip portion 124a of the conductive rod 124 to the conductive surface 110a is set to less than λm/2. This is because when the distance is λm/2 or more, a propagation mode in which electromagnetic waves reciprocate between the tip end portion 124a of the conductive rod 124 and the conductive surface 110a occurs, and electromagnetic waves cannot be trapped. Among the plurality of conductive rods 124, at least those adjacent to the waveguide member 122 are in a state where their tips are not in electrical contact with the conductive surface 110a. Here, the state in which the tip of the conductive rod is not in electrical contact with the conductive surface means that there is a gap between the tip and the conductive surface, or the tip of the conductive rod and the conductive surface. Any of the above conditions, and the state in which the tip of the conductive rod and the conductive surface are in contact with each other with the insulating layer interposed therebetween.

(4) Array and Shape of Conductive Rods The gap between two adjacent conductive rods 124 of the plurality of conductive rods 124 has a width of, for example, less than λm/2. The width of the gap between two adjacent conductive rods 124 is defined by the shortest distance from one surface (side surface) of the two conductive rods 124 to the other surface (side surface). The width of the gap between the rods is determined so that the lowest order resonance does not occur in the region between the rods. The conditions under which resonance occurs are determined by the combination of the height of the conductive rods 124, the distance between two adjacent conductive rods, and the volume of the air gap between the tips 124a of the conductive rods 124 and the conductive surface 110a. .. Therefore, the width of the gap between the rods is appropriately determined depending on other design parameters. There is no clear lower limit to the width of the gap between the rods, but in the case of propagating electromagnetic waves in the millimeter wave band in order to ensure ease of manufacturing, it may be, for example, λm/16 or more. The width of the gap does not have to be constant. If it is less than λm/2, the gap between the conductive rods 124 may have various widths.

The arrangement of the plurality of conductive rods 124 is not limited to the illustrated example as long as it functions as an artificial magnetic conductor. The plurality of conductive rods 124 need not be arranged in orthogonal rows and columns, and the rows and columns may intersect at an angle other than 90 degrees. The plurality of conductive rods 124 do not need to be arranged in a straight line along rows or columns, and may be arranged in a distributed manner without showing simple regularity. The shape and size of each conductive rod 124 may also change depending on the position on the conductive member 120.

The surface 125 of the artificial magnetic conductor formed by the tips 124a of the plurality of conductive rods 124 does not need to be strictly flat, and may be flat or curved with fine irregularities. That is, the heights of the conductive rods 124 do not have to be uniform, and the individual conductive rods 124 may have variety as long as the array of the conductive rods 124 can function as an artificial magnetic conductor.

Each conductive rod 124 is not limited to the prismatic shape shown in the figure, and may have, for example, a cylindrical shape. Moreover, each conductive rod 124 need not have a simple columnar shape. The artificial magnetic conductor can be realized by a structure other than the arrangement of the conductive rods 124, and various artificial magnetic conductors can be used for the waveguide device of the present disclosure. When the tip end portion 124a of the conductive rod 124 has a prismatic shape, the length of the diagonal line is preferably less than λm/2. When the shape is elliptical, the length of the major axis is preferably less than λm/2. Even when the tip portion 124a has another shape, it is preferable that the crossover dimension of the longest portion is less than λm/2.

The height of the conductive rod 124 (in particular, the conductive rod 124 adjacent to the waveguide member 122), that is, the length from the base portion 124b to the tip portion 124a is between the conductive surface 110a and the conductive surface 120a. It may be set to a value shorter than the distance (less than λm/2), for example, λo/4.

(5) Width of Waveguide Surface The width of the waveguide surface 122a of the waveguide member 122, that is, the size of the waveguide surface 122a in the direction orthogonal to the extending direction of the waveguide member 122 is less than λm/2 (for example, λo/8). Can be set. This is because when the width of the waveguide surface 122a becomes λm/2 or more, resonance occurs in the width direction, and when resonance occurs, the WRG does not operate as a simple transmission line.

(6) Height of Waveguide Member The height of the waveguide member 122 (the size in the Z direction in the illustrated example) is set to less than λm/2. This is because when the distance is λm/2 or more, the distance between the base portion 124b of the conductive rod 124 and the conductive surface 110a is λm/2 or more. Similarly, the height of the conductive rod 124 (in particular, the conductive rod 124 adjacent to the waveguide member 122) is also set to less than λm/2.

(7) Distance L1 between the waveguide surface and the conductive surface
The distance L1 between the waveguide surface 122a of the waveguide member 122 and the conductive surface 110a is set to less than λm/2. This is because when the distance is λm/2 or more, resonance occurs between the waveguide surface 122a and the conductive surface 110a and the waveguide does not function as a waveguide. In one example, the distance L1 is λm/4 or less. In order to ensure the ease of manufacture, when the electromagnetic wave in the millimeter wave band is propagated, the distance L1 is preferably set to λm/16 or more, for example.

The lower limit of the distance L1 between the conductive surface 110a and the waveguide surface 122a and the lower limit of the distance L2 between the conductive surface 110a and the tip end portion 124a of the conductive rod 124 are the precision of machining and the two upper and lower conductive members 110. , 120 depending on the precision with which they are assembled to keep them at a constant distance. When the press method or the injection method is used, the practical lower limit of the distance is about 50 micrometers (μm). When manufacturing a product in the terahertz region, for example, using a MEMS (Micro-Electro-Mechanical System) technique, the lower limit of the distance is about 2 to 3 μm.

According to the waveguide device 100 having the above-described configuration, the signal wave of the operating frequency cannot propagate in the space between the surface 125 of the artificial magnetic conductor and the conductive surface 110a of the conductive member 110, and thus the waveguide is not guided. It propagates in the space between the waveguide surface 122 a of the member 122 and the conductive surface 110 a of the conductive member 110. Unlike the hollow waveguide, the width of the waveguide member 122 in such a waveguide structure does not need to have a width equal to or larger than a half wavelength of an electromagnetic wave to be propagated. Further, it is not necessary to connect the conductive member 110 and the conductive member 120 with a metal wall extending in the thickness direction (parallel to the YZ plane).

FIG. 5A schematically shows an electromagnetic wave propagating in a narrow space in the gap between the waveguide surface 122 a of the waveguide member 122 and the conductive surface 110 a of the conductive member 110. The three arrows in FIG. 5A schematically indicate the directions of electric fields of propagating electromagnetic waves. The electric field of the propagating electromagnetic wave is perpendicular to the conductive surface 110a of the conductive member 110 and the waveguide surface 122a.

Artificial magnetic conductors formed by a plurality of conductive rods 124 are arranged on both sides of the waveguide member 122. The electromagnetic wave propagates through the gap between the waveguide surface 122a of the waveguide member 122 and the conductive surface 110a of the conductive member 110. FIG. 5A is schematic and does not accurately show the magnitude of the electromagnetic field that the electromagnetic wave actually creates. A part of the electromagnetic wave (electromagnetic field) propagating in the space on the waveguide surface 122a may spread laterally outward (on the side where the artificial magnetic conductor exists) from the space defined by the width of the waveguide surface 122a. In this example, the electromagnetic wave propagates in the direction (Y direction) perpendicular to the paper surface of FIG. 5A. Such a waveguide member 122 does not need to extend linearly in the Y direction, and may have a bent portion and/or a branched portion (not shown). Since the electromagnetic wave propagates along the waveguide surface 122a of the waveguide member 122, the propagation direction changes at the bent portion, and the propagation direction branches into a plurality of directions at the branch portion.

In the waveguide structure of FIG. 5A, the metal wall (electrical wall) indispensable in the hollow waveguide does not exist on both sides of the propagating electromagnetic wave. Therefore, in the waveguide structure in this example, the boundary condition of the electromagnetic field mode generated by the propagating electromagnetic wave does not include the “constraint condition by the metal wall (electrical wall)”, and the width (size in the X direction) of the waveguide surface 122a is , Less than half the wavelength of electromagnetic waves.

For reference, FIG. 5B schematically shows a cross section of the hollow waveguide 130. In FIG. 5B, the direction of the electric field of the electromagnetic field mode (TE ₁₀ ) formed in the internal space 132 of the hollow waveguide 130 is schematically represented by an arrow. The length of the arrow corresponds to the strength of the electric field. The width of the internal space 132 of the hollow waveguide 130 should be set wider than half the wavelength. That is, the width of the internal space 132 of the hollow waveguide 130 cannot be set smaller than half the wavelength of the propagating electromagnetic wave.

FIG. 5C is a cross-sectional view showing a mode in which two waveguide members 122 are provided on the conductive member 120. In this way, the artificial magnetic conductor formed by the plurality of conductive rods 124 is arranged between the two adjacent waveguide members 122. More precisely, artificial magnetic conductors formed by a plurality of conductive rods 124 are arranged on both sides of each waveguide member 122, and each waveguide member 122 can realize independent electromagnetic wave propagation.

For reference, FIG. 5D schematically shows a cross section of a waveguide device in which two hollow waveguides 130 are arranged side by side. The two hollow waveguides 130 are electrically insulated from each other. The periphery of the space in which the electromagnetic wave propagates needs to be covered with the metal wall forming the hollow waveguide 130. For this reason, the distance between the internal spaces 132 in which the electromagnetic waves propagate cannot be made shorter than the total thickness of the two metal walls. The total thickness of the two metal walls is usually longer than half the wavelength of the propagating electromagnetic wave. Therefore, it is difficult to make the arrangement interval (center interval) of the hollow waveguides 130 shorter than the wavelength of the propagating electromagnetic wave. In particular, when handling an electromagnetic wave having a wavelength in the millimeter wave band where the wavelength of the electromagnetic wave is 10 mm or less, or a wavelength shorter than that, it is difficult to form a metal wall that is sufficiently thin compared to the wavelength. This makes it difficult to achieve at a commercially realistic cost.

On the other hand, the waveguide device 100 including the artificial magnetic conductor can easily realize the structure in which the waveguide members 122 are close to each other. Therefore, it can be preferably used for feeding power to an array antenna in which a plurality of antenna elements are arranged close to each other.

When a small array antenna is constructed using the WRG structure as described above, how to feed each antenna element becomes a problem. The area of the surface on which the antenna element is arranged is determined by the installation location and required antenna characteristics. If the area of the surface on which the antenna element is arranged is reduced due to restrictions on the installation location, it becomes difficult to supply the necessary power to each antenna element via the waveguide.

A one-dimensional ridge waveguide or a two-dimensional ridge waveguide as shown in FIG. 3 is not sufficient for supplying desired power to each antenna element in a limited space. It is necessary to construct a network of objective (that is, multi-layered) power supply lines. At that time, how to connect the waveguides in different layers is an important issue. In the present specification, the “layer” means a layered space that is sandwiched by two opposing conductive members and that includes a region where electromagnetic waves can propagate. For example, the space between the first conductive member 110 and the second conductive member 120 shown in FIG. 3 corresponds to one “layer”.

Patent Document 1 discloses a phase shifter having a multilayered waveguide structure. For reference, the structure will be described with reference to the drawing disclosed in Patent Document 1.

FIG. 6A is a perspective view showing a waveguide structure of the phase shifter shown in FIG. 7 of Patent Document 1. This phase shifter includes an upper conductor 23 having a through hole 27b and a lower conductor 22 having a through hole 27a. The lower conductor 22 has a ridge 25 extending in the Z direction and a plurality of columnar protrusions (rods) 24 around the ridge 25. The through hole 27b and the through hole 27a are provided at positions separated from each other in the Z direction.

FIG. 6B is a cross-sectional view showing the waveguide structure of the phase shifter shown in FIG. 8 of Patent Document 1. This phase shifter has a structure in which two phase shifters shown in FIG. 6A are combined. FIG. 6B shows a cross section of the structure in which the conductors 22a and 22b of the two phase shifters are back-to-back and cut along the ridges 25a and 25b. In this phase shifter, the electromagnetic wave propagates through the path AA shown in the figure through the through holes 27ba, 27aa, 27ab, 27bb. By sliding the conductors 22a and 22b in the direction of arrow 30 in the figure, the phase of the electromagnetic wave passing through the through holes 27ba, 27aa, 27ab, and 27bb changes. Thereby, it can be operated as a variable phase shifter.

In the configuration shown in FIGS. 6A and 6B, the ridge waveguide in the upper layer and the ridge waveguide in the lower layer are connected via the through hole. Choke structures 28 and 29 including a tip portion of the ridge and a plurality of grooves are provided near each through hole. Thereby, the loss of high frequency energy can be suppressed and the electromagnetic waves can be efficiently transmitted between different layers via the through holes.

With the above configuration, a three-dimensional network of power feeding paths can be configured. On the other hand, depending on the application, it may be necessary to jump over one or more layers to supply power. For example, when it is necessary to dispose another ridge waveguide or a structure such as a camera in an intermediate layer, it is required to supply electric power beyond the layer. Such a configuration can be applied, for example, when a power feeding path connected to an antenna element for transmission and a power feeding path connected to an antenna element for reception are separately provided, or when a radar system using a camera is constructed. In such a case, a structure capable of transmitting an electromagnetic wave by jumping over an intermediate layer has not been heretofore known.

Embodiments of the present disclosure provide a novel waveguide structure capable of propagating electromagnetic waves across three or more layers.

Hereinafter, a specific configuration example of the waveguide device according to the embodiment of the present disclosure will be described. However, more detailed explanation than necessary may be omitted. For example, detailed description of well-known matters and duplicate description of substantially the same configuration may be omitted. This is for avoiding unnecessary redundancy in the following description and for facilitating understanding by those skilled in the art. It should be noted that the inventors have provided the accompanying drawings and the following description in order for those skilled in the art to fully understand the present disclosure, and are intended to limit the subject matter described in the claims by these. is not. In the following description, the same or similar components are designated by the same reference numerals.

<Embodiment 1: Waveguide device>
FIG. 7A is a perspective view schematically showing a part of the waveguide device 200 in the exemplary embodiment of the present disclosure. This waveguide device 200 includes a first conductive member 210 and a second conductive member 22.
It has 0 and. The first conductive member 210 and the second conductive member 220 are fixed to each other in a peripheral part (not shown) and face each other with a gap. FIG. 7A shows XYZ coordinates indicating X, Y, and Z directions that are orthogonal to each other. The first conductive member 210 and the second conductive member 220 are spread along the XY plane. The waveguide device 200 may include a WRG structure similar to the waveguide device 100 described with reference to FIGS. 1 to 4 around the portion shown in FIG. 7A. With such a structure, for example, one of the transmitted wave and the received wave is propagated in the vertical direction (Z-axis direction) through the through hole 211 of the first conductive member 210, and the other is propagated through the peripheral WRG structure. Can be made. The electromagnetic wave propagating in the vertical direction through the through hole 211 of the first conductive member 210 may be further propagated by the WRG structure in another layer as described later.

FIG. 7B is a perspective view showing the structure of the first conductive member 210 shown in FIG. 7A on the side facing the second conductive member 220. The inner walls of the first conductive member 210 and the first through hole 211 each have a conductive surface.

FIG. 7C is a perspective view showing the structure of the second conductive member 220 shown in FIG. 7A on the side facing the first conductive member 210. The second conductive member 220 includes a second through hole 221, a pair of waveguide walls 203 (projections) located with the central portion of the second through hole 221 interposed therebetween, and a pair of waveguide walls 203. And a plurality of conductive rods 124 surrounding the. The pair of waveguide walls 203 are arranged in the Y direction. The plurality of conductive rods 124 are arranged in a matrix along the X direction and the Y direction. The plurality of conductive rods 124 need not be arranged in a straight line along rows or columns, and may be arranged in a dispersed manner without showing simple regularity. The inner wall of the through hole 221, the pair of waveguide walls 203, and the plurality of conductive rods 124 all have a conductive surface.

FIG. 7D is a top view showing the structure of the second conductive member 220 viewed from the +Z direction. In FIG. 7D, for clarity, only the pair of waveguide walls 203 are hatched. Similarly, in the following figures, only the pair of waveguide walls 203 may be hatched. The opening of the second through hole 221 in the present embodiment is formed in a direction intersecting with the lateral portion 221T extending in the first direction (X direction in the example of FIG. 7D) and the both ends of the lateral portion in the first direction. It has a pair of vertical portions 221L extending. Both ends of the horizontal portion 221T are connected to the central portions of the pair of vertical portions 221L. Since such a shape is similar to the alphabet "H", it may be referred to as "H-shaped". In the present embodiment, the first through holes 211 also have the same H shape. Note that the term “lateral portion” in this specification does not limit the attitude of the waveguide device or the antenna device according to the present disclosure when actually used. The direction in which the lateral portion of each through hole extends may coincide with the horizontal direction, or may coincide with the vertical direction or the oblique direction.

The inner wall surface of each through hole 211, 221 has two protrusions that protrude inward. The portion between the two protrusions corresponds to the lateral portion 221T. In the example of FIG. 7D, the vertical portion 221L extends vertically to the horizontal portion 221T, but it does not necessarily have to extend vertically. The shape of such an opening can be referred to as a “double protrusion shape”. In the example of FIG. 7D, the H-shaped lateral portion 221T is parallel to the X-axis direction, but the lateral portion 221T may be inclined with respect to the X-axis direction.

In the through-hole 221 having the H-shape, the length from the center point of the horizontal portion 221T to any end of the vertical portion 221L is twice the length along the horizontal portion 221T and the vertical portion 221L to be λo/2 or more. Designed to be. This allows electromagnetic waves to propagate along the side surfaces of the pair of protrusions and the pair of waveguide walls 203. By making each through hole 211, 221 into an H shape, the size of the opening in the direction along the lateral portion 203T can be reduced.

The through holes 211 and 221 may have a shape different from the H shape, as described later. For example, it may have a shape including only a lateral portion extending in the X direction (hereinafter sometimes referred to as “I shape”). The first through hole 211 and the second through hole 221 do not have to have the same shape. The shape, size, and arrangement of the first through hole 211 and the second through hole 221 can be freely selected within a range where electromagnetic waves can be mutually propagated. The lateral portion of the first through hole 211 and the lateral portion of the second through hole 221 do not have to extend in the same direction. It suffices that at least one of the first through hole 211 and the second through hole 221 has a cross section perpendicular to the axial direction that has a lateral portion extending in the first direction.

The pair of waveguide walls 203 has a second direction (the example of FIG. 7D) that intersects the first direction when viewed along the axial direction of each through hole 211, 221 (Z direction in the example of FIG. 7D). In the Y direction), and are located on both sides of the central portion of the lateral portion 221T. The pair of waveguide walls 203 is surrounded by the plurality of conductive rods 124, and propagates electromagnetic waves between the first through hole 211 and the second through hole 221. Each of the pair of waveguide walls 203 has the same shape as each conductive rod 124. Each waveguide wall 203 may have a different shape than each conductive rod 124.

FIG. 7E is a diagram showing a cross section taken along line EE in FIG. 7D. FIG. 7E schematically shows a cross section of the waveguide device 200 which is parallel to the YZ plane passing through the centers of the through holes 211 and 221. The pair of waveguide walls 203, the plurality of conductive rods 124, and the second conductive member 220 may be separate members or may be one member connected to each other. When the constituent elements are connected to form one member, there is no clear boundary between the constituent elements, but in FIG. 7E and subsequent figures, the boundary line between the constituent elements is clearly shown for the sake of clarity. There is.

As shown in FIG. 7E, the top surfaces (upper surfaces) of the pair of waveguide walls 203 in the second conductive member 220 are opposed to the conductive surface 210a of the first conductive member 210, and between them. Has a gap. The side surfaces of the pair of waveguide walls 203 facing each other are connected to the inner wall surface of the second through hole 221. With such a structure, electromagnetic waves can be propagated in the Z direction along the inner wall surface of the first through hole 211, the two opposite side surfaces of the waveguide wall 203, and the inner wall surface of the second through hole 221. it can. The side surface of each waveguide wall 203 may be connected to the inner wall surface of the second through hole 221 with a step.

The first through hole 211 penetrates the first conductive member 210 along the axis 211a. This shaft 211a is referred to as the "shaft of the first through hole". The second through hole 221 penetrates the second conductive member 220 along the shaft 221a. This shaft 221a is referred to as a "shaft of the second through hole". The second through hole 221 is located so as to overlap the first through hole 211 when viewed along the axial direction of the first through hole 211. Here, "overlapping" includes not only complete overlapping but also partial overlapping. That is, when the first through-hole 211 is viewed from the side where the second conductive member 220 is not arranged in the direction of the axis 211a, the first through-hole 211 and the second through-hole 221 are At least partially overlap.

In the present embodiment, the conductive surface 210a of the first conductive member 210 is flat. The first through hole 211 penetrates the first conductive member 210 perpendicularly to the conductive surface 210a. The second through hole 221 penetrates the second conductive member 220 along the axial direction of the first through hole 211. That is, the axis 211a of the first through hole 211 and the axis 221a of the second through hole 221 coincide with each other. However, the configuration is not limited to such a configuration, and the shafts 211a and 221a may be slightly displaced. The directions of the axes 211a and 221a may be slightly inclined with respect to the Z axis.

In the present embodiment, the shapes of the XY cross section of the first through hole 211, each waveguide wall 203, and the inner wall of the second through hole 221 are constant regardless of the position in the Z direction. However, the shape is not limited to this, and it is also possible to use a through hole or a waveguide wall whose shape in the XY cross section changes depending on the position in the Z direction.

As in the case of other members, each waveguide wall 203 does not necessarily have to be entirely conductive as long as at least its surface is made of a conductive material. The pair of waveguide walls 203 may be located so as to sandwich at least a part of the space between the first through hole 211 and the second through hole 221. The structure of the pair of waveguide walls 203 is arbitrary as long as electromagnetic waves can be propagated between the first through hole 211 and the second through hole 221.

The waveguide device 200 is used for propagation of an electromagnetic wave in a band having a center wavelength of λo and a shortest wavelength of λm in free space. The wavelength λo is, for example, a wavelength (1 mm or more and less than 10 cm) belonging to the millimeter wave band, and is about 4 mm in the present embodiment. The height of each waveguide wall 203 is less than λm/2. More preferably, the sum of the height of each waveguide wall 203 and the length of the gap between each waveguide wall 203 and the conductive surface 210a is set to less than λm/2. Here, the “height of the waveguide wall 203” means the distance from the portion (base portion) of the waveguide wall 203 connected to the second conductive member 220 to the top surface of the waveguide wall 203. “Gap length” means the length of the gap in the Z direction.

As described later, each waveguide wall 203 may be separated into a first portion connected to the first conductive member 210 and a second portion connected to the second conductive member 220. .. In that case, the sum of the height of the first portion and the height of the second portion of the waveguide wall 203 is defined as the height of the waveguide wall 203.

By setting the height of each waveguide wall 203 to be less than λm/2, the reflection of the signal wave when passing through the waveguide wall 203 can be suppressed, and the signal wave can be efficiently propagated. In this embodiment, there is a gap between each waveguide wall 203 and the conductive surface 210a, and there is no need to make contact with each other, so that there is an advantage that manufacturing is easy.

The thickness of the top surface of each waveguide wall 203 in the Y direction (second direction) is less than λm/2. This condition is imposed to prevent the lowest order resonance from occurring on the top surface of the waveguide wall 203. This can prevent the electromagnetic waves from leaking to the outside of the waveguide wall.

In this embodiment, the height of each waveguide wall 203 is the same as the height of the surrounding conductive rods 124. Therefore, the pair of waveguide walls 203 and the plurality of conductive rods 124 can be formed on the second conductive member 220 by a simple process. However, it is not necessarily limited to such a form. The height of each waveguide wall 203 may be different than the height of each conductive rod 124.

FIG. 8A is a cross-sectional view showing another configuration example of the pair of waveguide walls 203. In this example, each of the pair of waveguide walls 203 has two separate parts. The two parts are a first part 203 a connected to the first conductive member 210 and a second part 203 b connected to the second conductive member 220. In this example, the height of the first portion 203a of the waveguide wall is smaller than the height of the second portion 203b. There is a gap between the first portion 203a and the second portion 203b. The thickness of the top surface of each of the first portion 203a and the second portion 203b of each waveguide wall 203 in the Y direction is less than λm/2.

FIG. 8B is a cross-sectional view showing still another configuration example of the pair of waveguide walls 203. In this example, the height of the first portion 203a of each waveguide wall 203 is larger than the height of the second portion 203b. Also in this example, there is a gap between the first portion 203a and the second portion 203b. The thickness of the top surface of each of the first portion 203a and the second portion 203b in each waveguide wall 203 in the Y direction is set to less than λm/2. In order to further reduce the leakage of electromagnetic waves, the thickness is derived from the thickness of the top surface of each waveguide wall 203, half the width of the space between the waveguide wall 203 and the conductive rod 124, and the height of the conductive rod 124. The sum of the length of the second portion 203b of the wave wall 203 minus the length (the length of the arrow shown in FIG. 8B) may be less than λm/2. This can prevent the lowest-order resonance from occurring in the region from the entrance of the gap of each waveguide wall to the tip of the conductive rod 124.

FIG. 8C is a cross-sectional view showing still another configuration example of the pair of waveguide walls 203. In this example, both ends of each waveguide wall 203 are connected to the first conductive member 210 and the second conductive member 220, respectively. In this example, the sum of the height of each waveguide wall 203, the thickness of the first conductive member 210, and the thickness of the second conductive member 220 is designed to be less than λm/2. That is, the length in the Z direction of the space surrounded by the first through hole 211, the pair of waveguide walls 203, and the second through hole 221 is designed to be less than λm. This can prevent the lowest resonance from occurring and reduce energy loss due to reflection when the signal wave passes through the first through hole 211, the waveguide wall 203, and the second through hole 221.

FIG. 8D is a cross-sectional view showing still another configuration example of the pair of waveguide walls 203. In this example, each waveguide wall 203 includes only a portion connected to the first conductive member 210. Further, some of the plurality of conductive rods 124 are connected to the conductive surface 210 a of the first conductive member 210. The height of the waveguide wall 203 may be the same as or different from the height of the conductive rod 124. There is a gap between the waveguide wall 203 and the second conductive member 220. In order to prevent the energy of electromagnetic waves from leaking from the gap, the thickness of the top surface of the waveguide wall 203 in the Y direction is set to less than λm/2.

FIG. 8E is a cross-sectional view showing still another configuration example of the pair of waveguide walls 203. In this example, each waveguide wall 203 includes only a single portion that is not connected to either the first conductive member 210 or the second conductive member 220. The waveguide wall 203 is fixed to the first conductive member 210 and the second conductive member 220 by a member (not shown). There is a gap both between the waveguide wall 203 and the first conductive member 210 and between the waveguide wall 203 and the second conductive member 220. In order to prevent the energy of electromagnetic waves from leaking from the gap, the thickness of the top surface of each waveguide wall 203 is set to less than λm/2. In this example, the top surface of each waveguide wall 203 refers to both the surface of the first conductive member 210 facing the conductive surface 210a and the surface of the second conductive member 220 facing the conductive surface 220a. ..

In any of the above configurations, the distance between the outer periphery of the conductive rod 124 closest to each waveguide wall 203 among the plurality of conductive rods 124 and the outer periphery of the waveguide wall 203 is set to less than λm/2. To be done. That is, the size of the gap between the conductive rod 124 closest to each waveguide wall 203 and the waveguide wall 203 is less than λm/2. This can prevent unnecessary resonance from occurring in the gap between the waveguide wall 203 and the conductive rod 124.

At least one of the first conductive member 210 and the second conductive member 220, and the pair of waveguide walls 203 may form one connected member. In other words, at least one of the first conductive member 210 and the second conductive member 220, and the pair of waveguide walls 203 can be part of a single structure. In a configuration in which each waveguide wall 203 is divided into a first portion 203a and a second portion 203b, the first conductive member 210 and the first portion 203a are part of a single structure, The second conductive member 220 and the second portion 203b may be part of another single structure. Such a single structure may be, for example, a single member made of the same material and manufactured through a process such as cutting, casting, or press molding. The unitary structure can also be manufactured using a 3D printer, for example. Such a configuration in which the boundary between the components is not clear is also included in the embodiment of the present disclosure.

FIG. 8F shows an example of a configuration in which a step is formed between the side surface of each of the waveguide walls 203 that faces each other with a gap therebetween and the inner wall surface of the second through hole 221. This structure can also be expressed as a structure in which the conductive surface 220a of the second conductive member 220 extends to between the edge of the opening of the second through hole 221 and the side surface of each waveguide wall 203. ..

FIG. 8G shows an example of a configuration in which, among the side surfaces of each waveguide wall 203, the side surfaces facing each other with a gap interposed therebetween have a step difference extending in the direction crossing the side surface (X direction). On the other hand, there is no step between the side surface and the inner peripheral surface of the through hole 221. As still another example, the inner peripheral surface of the through hole 221 may have the same step. Such a structure is also included in the embodiment of the present disclosure. As in these examples, the size in the Y direction of the space surrounded by the side surfaces of the pair of waveguide walls 203 facing each other and the space surrounded by the inner peripheral surface of the through hole 221 changes along the Z direction. Good. By making the distance between the pair of waveguide walls different along the thickness direction of the waveguide member, it is possible to reduce the loss of electromagnetic waves that pass through the through holes 221.

FIG. 8H shows the positional relationship of each part when the second conductive member 220 in FIG. 8F is viewed from the +Z direction side. In this figure, although the pair of waveguide walls 203 sandwich the lateral portion 221T of the through hole 221, the side surface of each waveguide wall 203 on the lateral portion 221T side does not coincide with the inner peripheral surface of the lateral portion 221T. .. The side surface of each waveguide wall 203 is located away from the edge of the opening of the lateral portion 221T in a direction away from the center of the opening.

Although the through holes 211 and 221 in the present embodiment have an H shape, they may have other shapes. Hereinafter, other examples of the shapes of the through holes 211 and 221 will be exemplified. In the following description, the through hole 221 will be referred to, but the through hole 211 can be similarly modified.

FIG. 9A is a diagram schematically showing another example of the shape of the XY cross section of the through hole 221. The shape of the cross section of the through hole 221 parallel to the XY plane in this example is an I-shape including only a lateral portion extending in the X direction. The I-shaped through holes 211 and 221 can reduce the dimension in the Y direction. In the example shown in FIG. 9A, the through hole 221 has a shape close to an ellipse, but the through hole 221 may have a rectangular shape. The size of the opening in the length direction (X direction) is set to be larger than λo/2. Compared with the structure of FIG. 7D, the size in the length direction (X direction) is increased, but the shape of the hole is simplified.

FIG. 9B is a diagram schematically showing still another example of the shape of the XY cross section of the through hole 221. In this example, the inner wall surface of the through hole 221 has one protrusion that protrudes inward. Such a shape may be referred to as a “U shape” or a “single protrusion shape”. With such a shape, electromagnetic waves can be propagated along the side surfaces of the protrusion and the pair of waveguide walls 203. The opening in this example has one horizontal portion 221T extending in the X direction and a pair of vertical portions 221L extending in the +Y direction which is the same direction from both ends of the horizontal portion 221T. In this example, a pair of vertical portions 221L and a horizontal portion 221T are formed from one end (upper right end in FIG. 9B) to the other end (upper left end in FIG. 9B) of the pair of vertical portions 221L. The length along it is designed to be larger than λo/2.

FIG. 9C is a diagram schematically showing still another example of the shape of the XY cross section of the through hole 221. The cross-sectional shape in this example has one horizontal portion 221T extending in the X direction and a pair of vertical portions 221L extending in different directions (+Y direction and −Y direction) from both ends of the horizontal portion 221T. Such a shape is sometimes referred to as a “Z-shaped shape” because it is similar to the shape of the alphabet “Z” or the inverted “Z”. The horizontal portion 221T and the vertical portion 22 from the center point of the Z shape (the central point of the horizontal portion 221T) to the end (any one end of the vertical portion 221L).
The cross-sectional shape of the opening is designed so that twice the length along 1L is λo/2 or more.

FIG. 9D is a cross-sectional view showing still another configuration example of the pair of waveguide walls 203. FIG. 9E is a perspective view showing the structure of the side of the first conductive member 210 shown in FIG. 9D that faces the second conductive member 220. FIG. 9F is a perspective view showing the structure of the side of the second conductive member 220 shown in FIG. 9D that faces the first conductive member 210. FIG. 9G is a top view showing the structure of the second conductive member 220 shown in FIG. 9D as seen from the +Z direction.

In this example, each waveguide wall 203 is divided into a first portion 203a and a second portion 203b. The height of the first portion 203a is larger than the height of the second portion 203b. The height of the second portion 203b is half the height of the conductive rod 124. As shown in FIG. 9E, the first portion 203a is not divided into two portions. On the other hand, as shown in FIG. 9F, in this example, the second portion 203b is divided into two portions by the pair of grooves 204. As shown in FIG. 9G, when viewed from the direction perpendicular to the second conductive surface 220 a, the respective central portions of the vertical portions 221</b>L of the through holes 221 are located between the pair of grooves 204. The pair of grooves 204 are arranged in the X direction. In such a structure, the two portions of the second portion 203b divided by the groove 204 correspond to "a pair of waveguide walls" arranged in the second direction.

The bottom surface of each groove 204 reaches the second conductive surface 220a. That is, there is no step between the bottom surface of each groove 204 and the second conductive surface 220a. The pair of grooves 204 completely divides the second portion 203b into two portions. However, it is not limited to a completely divided form. It is also possible to take a form in which the groove 204 reaches the middle of the second portion 203b. In that case, the second portion 203b is divided at the upper end side, that is, the side far from the conductive surface 220a. Alternatively, the first portion 203a may be divided by the pair of grooves instead of the second portion 203b. Which form is adopted is appropriately selected at the time of designing so as to obtain desired characteristics. The structure described here is effective when the loss of the signal wave passing through the through hole 221 cannot be sufficiently suppressed even if the height or thickness of the wall is adjusted. By adopting a structure in which the first portion 203a or the second portion 203b is divided into two portions, loss may be further reduced in some cases.

FIG. 10 is a diagram for explaining the dimensions of the through holes 211 and 221 in more detail. In the following description, the second through hole 221 is referred to, but the following description is similarly applied to the first through hole 211.

FIG. 10A shows an example of the elliptical through hole 221. The major radius La of the through-hole 221 shown by the arrow in the figure is set so that high-order resonance does not occur and the impedance does not become too small. More specifically, La can be set to λo/4<La<λo/2, where λo is the wavelength in free space corresponding to the center frequency of the operating frequency band. In the case of a rectangular through hole instead of an elliptical shape, the long side length La can be set to λo/4<La<λo/2.

FIG. 10B shows an example of an H-shaped through hole 221 having a pair of vertical portions 221L and a horizontal portion 221T connecting the pair of vertical portions 221L. The horizontal portion 221T is substantially perpendicular to the pair of vertical portions 221L, and connects the substantially central portions of the pair of vertical portions 221L. Even in such an H-shaped through hole 221, the shape and size are determined so that high-order resonance does not occur and the impedance does not become too small. Let Lb be the distance between the intersection of the center line g2 of the horizontal portion 221T and the center line h2 of the entire H-shape perpendicular to the horizontal portion 221T and the intersection of the center line g2 and the center line k2 of the vertical portion 221L. .. The distance between the intersection of the center line g2 and the center line k2 and the end of the vertical portion 221L is Wb. The sum of Lb and Wb is λo/
It is set to satisfy 4<Lb+Wb<λo/2. By making the distance Wb relatively long, the distance Lb can be made relatively short. As a result, the width of the H-shape in the X direction can be made smaller than, for example, λo/2, and the distance between the lateral portions 221T in the length direction can be shortened.

FIG. 10C shows an example of the through hole 221 having a horizontal portion 221T and a pair of vertical portions 221L extending from both ends of the horizontal portion 221T. The directions extending from the horizontal portions 221T of the pair of vertical portions 221L are substantially perpendicular to the horizontal portions 221T and are opposite to each other. The distance between the intersection of the center line g3 of the horizontal portion 221T and the center line h3 of the overall shape perpendicular to the horizontal portion 221T and the intersection of the center line g3 and the center line k3 of the vertical portion 221L is Lc. The distance between the intersection of the center line g3 and the center line k3 and the end of the vertical portion 221L is Wc. The sum of Lc and Wc is set so as to satisfy λo/4<Lc+Wc<λo/2. By making the distance Wc relatively long, the distance Lc can be made relatively short. As a result, the width in the X direction of the overall shape of FIG. 10C can be set to, for example, less than λo/2, and the lengthwise interval between the lateral portions 221T can be shortened.

FIG.10(d) has shown the example of the through-hole 221 which has a horizontal part 221T and a pair of vertical part 221L extended from the both ends of the horizontal part 221T in the same direction perpendicular|vertical to the horizontal part 221T. The shape shown in FIG. 10D can also be considered as the shape of the upper half of the H-shape. The distance between the intersection of the center line g4 of the horizontal portion 221T and the center line h4 of the entire U-shape perpendicular to the horizontal portion 221T and the intersection of the center line g4 and the center line k4 of the vertical portion 221L is Ld. .. The distance between the intersection of the center line g4 and the center line k4 and the end of the vertical portion 221L is Wd. The sum of Ld and Wd is set so as to satisfy λo/4<Ld+Wd<λo/2. By making the distance Wd relatively long, the distance Ld can be made relatively short. As a result, the width of the U shape in the X direction can be set to, for example, less than λo/2, and the distance between the lateral portions 221T in the length direction can be shortened.

FIG. 11: is a figure which shows typically an example of the intensity distribution of the electric field formed when the shape of an opening is H-shaped. When the electromagnetic wave is propagating, an electric field as illustrated in FIG. 11 is formed in the through hole. In FIG. 11, the direction of the electric field is represented by an arrow, and the strength of the electric field is represented by the length of the arrow. The electric field is relatively strong between the pair of protrusions, that is, the central portion of the lateral portion, and relatively weak in the peripheral portion of the protrusions. The electromagnetic wave propagates mainly along the protrusion with such an electric field distribution.

Next, modifications of the pair of waveguide walls 203 will be described with reference to FIGS. 12A to 12L.

FIG. 12A shows another example in which each of the pair of waveguide walls 203 has the same shape as each conductive rod 124 as in the present embodiment. Each waveguide wall 203 may be made of the same material as the conductive rod 124. In that case, it can be said that each waveguide wall 203 is a part of the plurality of conductive rods 124.

FIG. 12B is a diagram showing another example of the pair of waveguide walls 203. In this example, the width of each waveguide wall 203 in the first direction (X direction) is larger than that in the above example. By using the wide waveguide wall 203 as described above, it is possible to suppress the leakage of the electromagnetic waves propagating in the through holes 211 and 221.

12C to 12E are views showing still another example of the pair of waveguide walls 203. In these examples, the Y-direction dimension (thickness) of each waveguide wall 203 is larger than the Y-direction dimension of each conductive rod 124. The thickness of each waveguide wall 203 in the Y direction can be set to, for example, λo/8 or more and 1.2λo/4 or less. By setting this size range, leakage of electromagnetic waves from the through holes 211 and 221 can be suppressed more reliably. In the example of FIG. 12C, the through hole 221 has an H shape, but in the examples of FIGS. 12D and 12E, the through hole 221 has an I shape. The dimension of the through hole 221 in the Y direction in the example of FIG. 12E is larger than the dimension of the through hole 221 in the Y direction in FIG. 12D. Specifically, the Y-direction dimension of the through hole 221 in FIG. 12D is equal to the Y-direction width of the conductive rod 124 adjacent to the through hole 221. On the other hand, the dimension of the through hole 221 in the Y direction in the example of FIG. 12E is larger than the width of the conductive rod 124 adjacent to the through hole 221 in the Y direction and smaller than, for example, three times the width.

FIG. 12F is a diagram showing still another example of the pair of waveguide walls 203. In this example, the X-direction and Y-direction dimensions of each waveguide wall 203 are larger than the X-direction and Y-direction dimensions of the conductive rod 124, respectively. The thickness of each waveguide wall 203 in the Y direction can be set to, for example, λo/8 or more and 1.2λo/4 or less. By providing the large waveguide wall 203 as described above, the leakage of electromagnetic waves can be more reliably suppressed.

In each example shown in FIGS. 7A to 7E, 8H, 9A to 9C, and 12A to 12F, the dimension of the through hole 221 in the long side direction, that is, the dimension in the X direction is equal to that of the through hole 221. It is larger than the dimension in the X direction of each waveguide wall 203 arranged along the long side. That is, when viewed in the axial direction, both ends of the through hole 221 in the long side direction project from the end of the waveguide wall 203. The end of the through hole 221 is surrounded by the conductive rod 124. Even with such a configuration, it is possible to suppress leakage of electromagnetic waves propagating in the through hole 221.

12G to 12I are diagrams showing still another example of the pair of waveguide walls 203. In these examples, the dimension of each waveguide wall 203 in the X direction (first direction) changes along the Y direction. In the example of FIG. 12G, the dimension of each waveguide wall 203 in the X direction is reduced at a point apart from the through hole 221. In the example of FIG. 12H, the dimension of each waveguide wall 203 in the X direction increases as the Y coordinate increases. In the example of FIG. 12I, the dimension of each waveguide wall 203 in the X direction is enlarged at a point apart from the through hole 203. In any of these examples, the thickness of each waveguide wall 203 adjacent to the central portion of the lateral portion of the through hole 221 in the Y direction is set to, for example, λo/8 or more and 1.2λo/4 or less. Can be done. By setting this size range, leakage of electromagnetic waves from the through holes 211 and 221 can be suppressed more reliably.

12J to 12L are views showing still another example in which the pair of waveguide walls 203 are partially connected. In the example of FIG. 12J, the pair of waveguide walls 203 are connected at the base. In this case, the base portion of the waveguide wall 203 refers to the portion of the waveguide wall 203 on the side connected to the conductive surface 220a. On the other hand, the pair of waveguide walls 203 are separated on the tip side opposite to the base. That is, in FIG. 12J, at both ends in the X direction, the pair of waveguide walls 203 are separated by a gap at least on the tip end side. FIG. 12K is a perspective view of the waveguide wall 203 in FIG. 12J. The conductive rod 124 surrounding the waveguide wall 203 is omitted. FIG. 12L shows yet another example. In the example of FIG. 12L, the pair of waveguide walls 203 are not only connected at the base side, but also connected to the tip end at the end on the +X direction side. However, at the end portion on the −X direction side, the front end portions of the pair of waveguide walls 203 are separated by a gap.

As in the above example, at least one end of the pair of waveguide walls 203 in the first direction (X direction) and at least one end of the other pair of the waveguide walls 203 in the first direction. The section is opposed to the section through a gap. In other words, the pair of waveguide walls 203 does not completely surround the circumference of the through hole 221, but surrounds only a part of the circumference.

FIG. 13 is a diagram showing still another configuration example of the pair of waveguide walls 203. In this example, each waveguide wall 203 is divided into two parts, the right side and the left side in FIG. Even when such a waveguide wall 203 is used, a strong electric field is formed between the opposing protruding portions 203r, so that electromagnetic waves can be propagated as in the above-described example.

In each of the above examples, each of the first conductive member 210 and the second conductive member 220 has been described as having one through hole. However, each of the first conductive member 210 and the second conductive member 220 may have a plurality of through holes.

FIG. 14A shows an example in which the second conductive member 220 has a plurality of sets of the through hole 221 and the pair of waveguide walls 203. FIG. 14B shows an example in which the intervals between the through holes 221 adjacent to each other in the Y direction are wider than in the example of FIG. 14A. FIG. 14C shows an example in which the size of each waveguide wall 203 in the example of FIG. 14B is increased in the X direction. In these examples, the first conductive member 210 also has a plurality of through holes. The plurality of through holes in the first conductive member 210 respectively overlap with the plurality of through holes 221 in the second conductive member 210 when viewed from the Z direction. With such a structure, different signal waves can be transmitted to the plurality of through holes 221. In the example of FIGS. 14A to 14C, the number of through holes 221 is four, but it may be another number.

Next, an example in which the waveguide device 200 according to the present embodiment and the ridge waveguide (WRG) described above are combined will be described. The waveguide device 200 according to the present embodiment can form various power supply paths according to the purpose by combining with the WRG structure described above.

FIG. 15A is a cross-sectional view showing an example in which a third conductive member 230 having a WRG structure is provided below the second conductive member 220. The third conductive member 230 has a waveguide member 122 extending in the Y direction and a plurality of conductive rods 124 located on both sides of the waveguide member 122. Here, the plurality of conductive rods 124 arranged on the upper surface of the third conductive member 230 can be referred to as the second plurality of conductive rods. The waveguide surface of the waveguide member 122 and the tip of the conductive rod 124 face the conductive surface 220b of the second conductive member 220.

FIG. 15B is a cross-sectional view showing an example in which conductive rods 124 are provided above and below the second conductive member 220. On the lower surface of the second conductive member 220, the plurality of conductive rods 124 and the waveguide member 122 are arranged. The plurality of conductive rods 124 arranged on the upper surface (conductive surface 220a) of the second conductive member 220 are referred to as the first plurality of conductive rods 124, and the lower surface of the second conductive member 220. The plurality of conductive rods 124 arranged on the (conductive surface 220b) may be referred to as a second plurality of conductive rods 124. The third conductive member 230 is a plate-shaped member disposed below the second conductive member 220, and has a conductive surface 230a facing the conductive surface 220b. In this example, the lower waveguide member 122 of the second conductive member 220 extends in the Y direction, and the plurality of conductive rods 124 are arranged on both sides of the waveguide member 122. The waveguide surface of the waveguide member 122 and the tip of the conductive rod 124 face the conductive surface 230a of the third conductive member 230. In addition, the second through hole 221 opens at the end of the waveguide surface of the waveguide member 122 or at another portion.

FIG. 16 is a top view of the third conductive member 230 in FIG. 15A seen from the positive direction of the Z axis. On both sides of the waveguide member 122, artificial magnetic conductors composed of an array of a plurality of conductive rods 124 are formed. A plurality of conductive rods 124 are arranged in the Y direction at one end of the waveguide member 122 to form a choke structure 129. The choke structure 129 includes an open end of the waveguide member 122 and a plurality of conductive rods 124 having a height of about λo/4 and arranged in the extension direction of the end of the waveguide member 122. The choke structure 129 can prevent the electromagnetic wave from leaking from one end of the waveguide member 122, and can efficiently transmit the electromagnetic wave.

The third conductive member 230 has a port (opening) 145 near the other end of the waveguide member 122. Electromagnetic waves can be supplied from a transmission circuit (electronic circuit) (not shown) to the waveguide on the waveguide member 122 via the port 145. On the contrary, the electromagnetic wave propagating in the waveguide on the waveguide member 122 can be transmitted to the waveguide in the lower layer via the port 145. The waveguide surface of the waveguide member 122 of the third conductive member 230 may be opposed to the second through hole 221 at any part thereof.

FIG. 17 is a cross-sectional view showing an example in which the WRG structure is provided on the first conductive member 210. In this example, the first conductive member 210 includes a waveguide member 122 and a plurality of conductive rods 124 on the surface opposite to the conductive surface 210a. One end of the waveguide member 122 is connected to the side wall of the first through hole 211. Another conductive member 240 is arranged to face the first conductive member 210. The conductive surface 240a of the conductive member 240 faces the waveguide surface of the waveguide member 122 and the tip of the conductive rod 124. A waveguide is formed between the conductive surface 240a and the waveguide surface.

FIG. 18 is a top view of the first conductive member 210 in FIG. 17 viewed from the positive side of the Z axis. A stripe-shaped (sometimes called “strip”) waveguide member 122 extends in the negative direction of the Y-axis from the position of the first through hole 211 in the first conductive member 210. A plurality of conductive rods 124 are two-dimensionally arranged around the waveguide member 122. An artificial magnetic conductor is formed by these conductive rods 124. The electromagnetic wave that has passed through the waveguide wall 203 and the first through hole 211 can propagate along the waveguide surface on the waveguide member 122. The waveguide between the waveguide member 122 and the conductive surface 240a may be connected to at least one antenna element (not shown) (for example, a slot), or may be connected to a waveguide of an upper layer. ..

As used herein, the term "stripe shape" does not mean the shape of stripes, but the shape of a single stripe. The “stripe shape” includes not only a shape that linearly extends in one direction but also a shape that bends or branches in the middle. Even when a portion of the waveguide surface 122a whose height or width changes is provided, if the shape includes a portion extending along one direction when viewed from the normal direction of the waveguide surface 122a, the "stripe shape" is obtained. It corresponds to.

FIG. 19 is a cross-sectional view showing a configuration example in which the configurations of FIGS. 15A and 17 are combined. In this example, the waveguide on the waveguide member 122 in the third conductive member 230 and the waveguide on the waveguide member 122 in the first conductive member 210 are the first through hole 211 and the waveguide wall ( The first portion 203a and the second portion 203b) are connected to each other via the second through hole 221. Therefore, electromagnetic waves can be propagated between the upper and lower waveguides. Further, a choke structure 129 (see FIG. 16) is provided on the third conductive member 230 on the positive side in the Y direction with respect to the through hole 221. The choke structure 129 can prevent the electromagnetic wave from leaking from the end of the waveguide member 122 on the positive side in the Y direction, and can efficiently transmit the electromagnetic wave.

FIG. 20A is a sectional view schematically showing a configuration example of a waveguide device 200 capable of propagating an electromagnetic wave across two waveguide layers. The waveguide device 200 in this example includes a first conductive member 210, a second conductive member 220, a third conductive member 230, and other conductive members 240 and 250. The third conductive member 230 has a second plurality of conductive rods 124 each having a tip end facing the conductive surface 220b of the second conductive member 220, and an axial direction of the second through hole 221. The third through hole 231 overlapping the second through hole 221 and the space between the second through hole 221 and the third through hole 231 are at least partially sandwiched therebetween. A pair of other conductive waveguide walls 233 (first portion 233a and second portion 233b).
) And have. The pair of other waveguide walls 233 are surrounded by the second plurality of conductive rods 124 in the third conductive member 230 and propagate electromagnetic waves between the second through holes 221 and the third through holes 231. Let The height of the other waveguide wall 233 (the total height of the first portion 233a and the second portion 233b) is also less than λm/2. The distance between the conductive rod 124 of the second plurality of conductive rods 124 adjacent to the waveguide wall 233 and the outer periphery of the waveguide wall 233 is less than λm/2.

In the example illustrated in FIG. 20A, each waveguide wall 233 has a first portion 233a connected to the back surface side (the side of the conductive surface 220b) of the conductive member 220 and a second portion connected to the conductive member 230. 233b, but may be composed of one part. The pair of waveguide walls 233 may be connected to at least one of the conductive members 220 and 230, or may not be connected to any of the conductive members. At least one of the conductive members 220 and 230 and at least part of the pair of waveguide walls 233 may be part of a single structure. As for the waveguide wall 233, the thickness of the top surface in the Y direction is set to less than λm/2, similarly to the above-described waveguide wall 203.

In this example, the electromagnetic wave can be propagated through the two layers of the layer between the conductive member 210 and the conductive member 220 and the layer between the conductive member 220 and the conductive member 230. Therefore, another waveguide or a structure such as a camera can be arranged in the skipped space of the two layers. Note that another member having a waveguide wall may be arranged instead of the conductive member 250 in FIG. 20A. According to such a configuration, the electromagnetic wave can be propagated by jumping over three or more layers.

FIG. 20B is a cross-sectional view schematically showing another configuration example of the waveguide device 200 capable of propagating an electromagnetic wave across two waveguide layers. The waveguide device 200 shown in FIG. 20B differs from the waveguide device 200 shown in FIG. 20A in that the second conductive surface 220b side of the second conductive member 220 and the third conductive member 230 have the third conductive property. It differs in the configuration on the front surface 230b side. In the waveguide device 200 shown in FIG. 20B, the second conductive member 220 has another conductive surface 220a on the side opposite to the conductive surface 220a on which the plurality of conductive rods 124 are arranged. The conductive rod 124 of The first portion 233a of the other pair of conductive waveguide walls 233 is located on the opposite conductive surface 220b. On the other hand, the second portion 233b of the other waveguide wall 233 is located on the conductive surface 230a of the third conductive member 230. The pair of other waveguide walls 233 are surrounded by the second plurality of conductive rods 124 on the conductive surface 220b side of the second conductive member 220. The pair of other waveguide walls 233 propagate electromagnetic waves between the second through hole 221 and the third through hole 231. The configuration of the other part of the waveguide device 200 shown in FIG. 20B is the same as that of the waveguide device 200 shown in FIG. 20A. The first portion 233a of the waveguide wall 233 in the example of FIG. 20A and the second portion 233b of the waveguide wall 233 in the example of FIG. 20B are not essential. These portions can be omitted as appropriate. The presence and size of the lower portion 233a of the two portions of the waveguide wall are appropriately selected at the time of designing so that desired characteristics can be obtained.

FIG. 21 is a sectional view schematically showing a configuration example in which another waveguide is formed in the layer in which the waveguide wall 203 is arranged. In addition to the configuration shown in FIG. 19, this waveguide device 200 further has another ridge waveguide on the second conductive member 220 and the third conductive member 230. In this example, the third conductive member 230 has two stripe-shaped waveguide members 122 that are separated by a plurality of conductive rods 124.

22 is a top view of the second conductive member 220 in the waveguide device 200 shown in FIG. 21, viewed from the positive direction of the Z axis. The second conductive member 220 in this example further includes a waveguide member 122 having a conductive waveguide surface facing the conductive surface 210a between the plurality of conductive rods 124. The waveguide member 122 is arranged so as to separate the plurality of conductive rods 124 from the waveguide wall 203. A waveguide is formed between the waveguide surface of the waveguide member 122 and the conductive surface 210a of the first conductive member. This waveguide is connected to the waveguide on the waveguide member 122 in the third conductive member 230 via the port 145.

The electromagnetic wave propagating in the waveguide on the waveguide member 122 in the second conductive member 220 can transmit a different signal from the electromagnetic wave propagating in the waveguide wall 203. For example, the former electromagnetic wave may be the received wave transmitted from the receiving antenna element, and the latter electromagnetic wave may be the transmitted wave transmitted to the transmitting antenna element. With such a configuration, it is possible to realize a small antenna device provided with a waveguide structure required in a limited space.

<Embodiment 2: Antenna device>
Next, an exemplary embodiment of an antenna device including the waveguide device of the present disclosure will be described.

The first through hole 211 in the waveguide device of the first embodiment can function as a radiating element used for at least one of transmission and reception of electromagnetic waves. In such a form, the waveguide device in the first embodiment functions as an antenna device.

FIG. 23A is a top view schematically showing the antenna device 300 of this embodiment. 23B is a cross-sectional view taken along the line BB of FIG. 23A. The antenna device 300 according to this embodiment basically has the same configuration as the waveguide device according to the first embodiment. In the present embodiment, the +Z side (front side) conductive surface 210b of the first conductive member 210 has a shape that defines the horn 114 that communicates with the first through hole 211. In this embodiment, the first through hole 211 is a slot that functions as a radiating element.

With such a structure, the waveguide defined by the first through hole 211, the second through hole 221, and the pair of waveguide walls 203 is connected to the external space and transmits or receives a signal wave. You can In the present embodiment, since the horn 114 is provided on the front surface of the first conductive member 210, it is possible to perform transmission or reception more efficiently. The waveguide device according to the first embodiment may be used as it is as an antenna without providing the horn 114.

FIG. 24A is a top view showing a modified example of this embodiment. 24B is a cross-sectional view taken along the line BB in FIG. 24A. In this modification, the first through-hole 211 has an I-shape having a width wider than the width (dimension in the Y direction) of the lateral portion of the second through-hole 221. The other points are the same as the configurations of FIGS. 23A and 23B. In this way, the shape of the first through hole 211 and the shape of the second through hole 221 may be different.

Subsequently, implementation of another antenna device including the waveguide device according to the first embodiment and at least one antenna element (radiating element) connected to the waveguide between the pair of waveguide walls in the waveguide device. The form will be described. “Connected to the waveguide between the pair of waveguide walls” means directly to the waveguide between the pair of waveguide walls or indirectly through another waveguide such as the aforementioned WRG. Means connected. At least one antenna element has a function of radiating an electromagnetic wave propagating through a waveguide between a pair of waveguide walls toward a space, and introducing the electromagnetic wave propagating through the space into a waveguide between the pair of waveguide walls. It has at least one of the functions to do. That is, the antenna device according to the present embodiment is used for at least one of signal transmission and signal reception.

FIG. 25A is a diagram showing an example of an antenna device (array antenna) in which a plurality of slots (openings) are arranged. FIG. 25A is a top view of the antenna device seen from the +Z direction. 25B is a cross-sectional view taken along the line BB of FIG. 25A. In the illustrated antenna device, the first waveguiding layer 10a including a plurality of waveguiding members 122U directly coupled to the plurality of slots 112 functioning as radiating elements, a plurality of conductive rods 124M and not shown. A second waveguide layer 10b including a waveguide wall and a third waveguide layer 10c including another waveguide member 122L coupled to the waveguide member 122U of the first waveguide layer 10a via the waveguide wall. And are stacked. The plurality of waveguide members 122U and the plurality of conductive rods 124U in the first waveguide layer 10a are arranged on the first conductive member 210. The plurality of conductive rods 124M and the waveguide wall (not shown) in the second waveguide layer 10b are arranged on the second conductive member 220. The waveguide member 122L and the plurality of conductive rods 124L in the third waveguide layer 10c are arranged on the third conductive member 230.

This antenna device further includes a conductive member 110 that covers the waveguide member 122U and the conductive rod 124U in the first waveguide layer 10a. The conductive member 110 has 16 slots (openings) 112 arranged in 4 rows and 4 columns. The conductive member 110 is provided with a side wall 114 surrounding each slot 112. The side wall 114 forms a horn that adjusts the directivity of the slot 112. The number and arrangement of slots 112 in this example is exemplary only. The orientation and shape of the slot 112 are also not limited to the example shown. For example, an H-shaped slot may be used. The presence or absence and the angle of the side wall 114 of the horn, and the shape of the horn are not limited to the illustrated example.

FIG. 26A is a diagram showing a planar layout of the waveguide member 122U and the conductive rod 124U in the first conductive member 210. FIG. 26B is a diagram showing a planar layout of the conductive rod 124M, the waveguide wall 203, and the through hole 221 in the second conductive member 220. FIG. 26C is a diagram showing a planar layout of the waveguide member 122L and the conductive rod 124L in the third conductive member 230. As is clear from these figures, the waveguide member 122U in the first conductive member 210 extends straight (striped) and has neither a branch portion nor a bent portion. On the other hand, the waveguide member 122L in the third conductive member 230 has both a branched portion in which the extending direction is divided into two and a bent portion in which the extending direction changes. As shown in FIG. 26B, the waveguide wall 203 described in the first embodiment is arranged between the through hole 211 in the first conductive member 210 and the through hole 221 in the second conductive member 220.

In the example shown in FIG. 26B, there are four through-holes 221 on the second conductive member 220, and there are four pairs of waveguide walls 203 positioned with the central portion of each of them interposed therebetween. The waveguide member 122U in the first conductive member 210 is coupled to the waveguide member 122L in the third conductive member 230 through the through hole 211, the pair of waveguide walls 203, and the through hole 221. In other words, the electromagnetic wave that has propagated along the waveguide member 122L on the third conductive member 230 passes through the through hole 221, the pair of waveguide walls 203, and the through hole 211 and is on the first conductive member 210. It can reach the waveguide member 122U and propagate along the waveguide member 122U. At this time, each slot 112 functions as an antenna element that radiates the electromagnetic wave propagating through the waveguide toward the space. On the contrary, when the electromagnetic wave propagating through the space is incident on the slot 112, the electromagnetic wave is coupled to the waveguide member 122U located immediately below the slot 112 and propagates along the waveguide member 122U. The electromagnetic wave propagating through the waveguide member 122U reaches the waveguide member 122L on the third conductive member 230 through the through hole 211, the pair of waveguide walls 203, and the through hole 221, and along the waveguide member 122L. It is also possible to propagate.

The waveguide member 122L can be coupled to an external waveguide device or a high frequency circuit (electronic circuit) via the port 145L of the third conductive member 230. As an example, FIG. 26C shows an electronic circuit 290 connected to the port 145L. The electronic circuit 290 is not limited to a specific position and may be arranged at any position. The electronic circuit 290 may be arranged on the circuit board on the back side (the lower side in FIG. 25B) of the third conductive member 210, for example. Such an electronic circuit is a microwave integrated circuit, and may be, for example, an MMIC (Monolithic Microwave Integrated Circuit) that generates or receives a millimeter wave.

The conductive member 110 shown in FIG. 25A can be referred to as a “emissive layer”. A layer including the entire waveguide member 122U and the conductive rod 124U on the first conductive member 210 shown in FIG. 26A is called an “excitation layer”, and a layer on the second conductive member 220 shown in FIG. 26B. The layer including the entire conductive rod 124M and the waveguide wall is referred to as an “intermediate layer”, and the layer including the entire waveguide member 122L and the conductive rod 124L on the third conductive member 230 illustrated in FIG. 26C is referred to as “intermediate layer”. You may call it a "distribution layer." Further, the “excitation layer”, the “intermediate layer”, and the “distribution layer” may be collectively referred to as a “power feeding layer”. The “emissive layer”, the “excitation layer”, the “intermediate layer”, and the “distribution layer” can be mass-produced by processing a single metal plate. The emission layer, the excitation layer, the distribution layer and the electronic circuit provided on the rear side of the distribution layer can be manufactured as one modularized product.

As can be seen from FIG. 25B, since the plate-shaped radiation layer, the excitation layer, and the distribution layer are laminated in the array antenna in this example, a flat panel antenna having a flat profile and a low profile is realized as a whole. There is. For example, the height (thickness) of the laminated structure having the cross-sectional structure shown in FIG. 25B can be set to 20 mm or less.

According to the waveguide member 122L shown in FIG. 26C, the measurement is performed along the waveguide member 122L from the port 145L of the third conductive member 230 to each through hole 211 (see FIG. 26A) of the first conductive member 210. All distances are equal. Therefore, the signal wave input to the waveguide member 122L from the port 145L of the third conductive member 230 reaches each of the four through holes 211 of the first conductive member 210 in the same phase. As a result, the four waveguide members 122U arranged on the first conductive member 210 can be excited in the same phase.

It is not necessary that all slots 112 functioning as antenna elements emit electromagnetic waves in the same phase. The network pattern of the waveguide member 122 in the excitation layer and the distribution layer is arbitrary, and each waveguide member 122 may be configured to independently propagate different signals.

Although the waveguide member 122U on the first conductive member 210 in the present embodiment has neither a branch portion nor a bent portion, a waveguide member in which the portion functioning as the excitation layer has at least one of the branch portion and the bent portion You may have it. As mentioned above, not all conductive rods in a waveguide device need have the same shape.

According to the present embodiment, electromagnetic waves are directly transmitted between the through hole 211 in the first conductive member 210 and the through hole 221 in the second conductive member 220 via the pair of conductive waveguide walls 203. Can be propagated. Since unnecessary propagation does not occur on the second conductive member 220, another waveguide, a circuit board, or a structure such as a camera can be arranged on the second conductive member 220. Therefore, the degree of freedom in designing the device can be improved. Although the waveguide wall is arranged between the first conductive member 210 and the second conductive member 220 in this embodiment, the waveguide wall may be arranged at another position.

FIG. 26D is a perspective view showing one radiating element in the slot antenna device according to another modification of the second exemplary embodiment. The slot antenna device in this example further includes another conductive member 160 having a conductive surface facing the conductive surface 110b on the front side of the conductive member 110. The other conductive member 160 has four other slots 111 in this example. FIG. 26E is a diagram showing the radiating element of FIG. 26D with the conductive member 110 and the other conductive member 160 separated from each other.

The slots 112 in FIG. 25A were each in communication with the horn 114, but in the example of FIG. 26D, the slots 112 are in communication with the cavity 180. The cavity 180 is a flat cavity surrounded by the conductive surface 110 b, the plurality of conductive rods 170 arranged on the front side of the conductive member 110, and the conductive surface on the back side of the other conductive member 160. In the examples of FIGS. 26D and 26E, there are gaps between the tips of the plurality of conductive rods 170 and the conductive surface on the back surface side of the other conductive member 160. The bases of the plurality of conductive rods 170 are connected to the conductive surface 110b of the conductive member 110. A configuration in which the plurality of conductive rods 170 are connected to the other conductive member 160 may be adopted. However, in that case, gaps are secured between the tips of the plurality of conductive rods 170 and the conductive surface 110b.

The other conductive member 160 has four other slots 111, and any of the slots 111 communicates with the cavity 180. The signal wave radiated from the slot 112 into the cavity 180 is radiated to the front side of the other conductive member 160 via the four other slots 111. It is also possible to adopt a structure in which a horn is installed on the front side of the other conductive member 160 and the other slot 111 is opened at the bottom of the horn. In this case, the signal wave radiated from the slot 112 is radiated via the cavity 160, the other slot 111, and the horn.

<Other modifications>
Next, a modified example of the waveguide structure having the waveguide member 122, the conductive members 110 and 120, and the conductive rod 124 will be described. The following modified examples can be applied to the WRG structure at any place in each of the above-described embodiments.

FIG. 27A is a cross-sectional view showing an example of a structure in which only the waveguide surface 122a, which is the upper surface of the waveguide member 122, has conductivity, and the portions other than the waveguide surface 122a of the waveguide member 122 do not have conductivity. is there. Similarly, in the conductive member 110 and the conductive member 120, only the surface (conductive surface 110a, 120a) on the side where the waveguide member 122 is located has conductivity, and the other portions do not have conductivity. As described above, the waveguide member 122 and the conductive members 110 and 120 do not have to be electrically conductive as a whole.

FIG. 27B is a diagram showing a modified example in which the waveguide member 122 is not formed on the conductive member 120. In this example, the waveguide member 122 is fixed to a support member (for example, the inner wall of the housing) that supports the conductive member 110 and the conductive member. A gap exists between the waveguide member 122 and the conductive member 120. As such, the waveguide member 122 may not be connected to the conductive member 120.

FIG. 27C is a diagram showing an example of a structure in which each of the conductive member 120, the waveguide member 122, and the plurality of conductive rods 124 has a dielectric surface coated with a conductive material such as a metal. The conductive member 120, the waveguide member 122, and the plurality of conductive rods 124 are electrically connected to each other. On the other hand, the conductive member 110 is made of a conductive material such as metal.

27D and 27E are views showing an example of a structure having dielectric layers 110c and 120c on the outermost surfaces of the conductive members 110 and 120, the waveguide member 122, and the conductive rod 124, respectively. FIG. 27D shows an example of a structure in which the surface of a metal conductive member that is a conductor is covered with a dielectric layer. FIG. 27E shows an example in which the conductive member 120 has a structure in which the surface of a member made of a dielectric material such as resin is covered with a conductor such as a metal, and the metal layer is covered with a dielectric layer. The dielectric layer covering the metal surface may be a coating film of resin or the like, or may be an oxide film such as a passivation film formed by oxidation of the metal.

The outermost dielectric layer increases the loss of electromagnetic waves propagated by the WRG waveguide. However, the conductive surfaces 110a and 120a having conductivity can be protected from corrosion. In addition, it is possible to block the influence of a DC voltage or an AC voltage having a low frequency so that it is not propagated by the WRG waveguide.

27F, the height of the waveguide member 122 is lower than the height of the conductive rod 124, and a portion of the conductive surface 110a of the conductive member 110 facing the waveguide surface 122a projects toward the waveguide member 122 side. FIG. Even with such a structure, if the size range shown in FIG. 4 is satisfied, the same operation as in the above-described embodiment is performed.

FIG. 27G is a diagram showing an example in which, in the structure of FIG. 27F, a portion of the conductive surface 110a facing the conductive rod 124 further projects toward the conductive rod 124. Even with such a structure, if the size range shown in FIG. 4 is satisfied, the same operation as in the above-described embodiment is performed. Instead of the structure in which a part of the conductive surface 110a projects, a structure in which a part of the conductive surface 110a is depressed may be used.

FIG. 28A is a diagram showing an example in which the conductive surface 110a of the conductive member 110 has a curved shape. FIG. 28B is a diagram showing an example in which the conductive surface 120a of the conductive member 120 also has a curved shape. As in these examples, the conductive surfaces 110a and 120a are not limited to planar shapes and may have curved shapes. A conductive member having a curved conductive surface also corresponds to a “plate-shaped” conductive member.

According to the waveguide device 100 having the above-described configuration, the signal wave of the operating frequency cannot propagate in the space between the surface 125 of the artificial magnetic conductor and the conductive surface 110a of the conductive member 110, and thus the waveguide is not guided. It propagates in the space between the waveguide surface 122 a of the member 122 and the conductive surface 110 a of the conductive member 110. Unlike the hollow waveguide, the width of the waveguide member 122 in such a waveguide structure does not need to have a width equal to or larger than a half wavelength of an electromagnetic wave to be propagated. Further, it is not necessary to electrically connect the conductive member 110 and the conductive member 120 with a metal wall extending in the thickness direction (parallel to the YZ plane).

The antenna device according to the embodiment of the present disclosure can be preferably used for a radar device or a radar system mounted on a moving body such as a vehicle, a ship, an aircraft, or a robot. The radar device includes the antenna device according to any one of the above-described embodiments and a microwave integrated circuit connected to the antenna device. The radar system includes the radar device and a signal processing circuit connected to the microwave integrated circuit of the radar device. Since the antenna device according to the embodiment of the present disclosure has a multi-layer WRG structure that can be downsized, the area of the surface on which the antenna elements are arranged is smaller than that of the configuration using the conventional hollow waveguide. It can be made extremely small. For this reason, a radar system equipped with the antenna device is installed in a narrow space such as a surface opposite to a mirror surface of a rear view mirror of a vehicle or a small moving body such as a UAV (Unmanned Aerial Vehicle, so-called drone). Can be easily installed. The radar system is not limited to the example of being mounted on a vehicle, and may be used by being fixed on a road or a building, for example.

The antenna device according to the embodiment of the present disclosure can also be used in a wireless communication system. Such a wireless communication system includes the antenna device according to any of the above-described embodiments, and a communication circuit (transmission circuit or reception circuit). Details of the application example to the wireless communication system will be described later.

The antenna device according to the embodiment of the present disclosure further includes an indoor positioning system (IPS:In).
It can also be used as an antenna in a Door Positioning System. The indoor positioning system can identify the position of a person in a building or a moving body such as an AGV (Automated Guided Vehicle). The antenna device can also be used as a radio wave transmitter (beacon) used in a system that provides information to an information terminal (smartphone or the like) of a person who visits a store or facility. In such a system, the beacon emits an electromagnetic wave on which information such as an ID is superimposed, for example, once every few seconds. When the information terminal receives the electromagnetic wave, the information terminal transmits the received information to the server computer at the remote place via the communication line. The server computer identifies the position of the information terminal from the information obtained from the information terminal, and provides the information terminal with information corresponding to the position (for example, product information or coupon).

In addition, in the present specification, the article by Kirino who is one of the present inventors (Non-Patent Document 1) and the article by Kildal et al. The term "conductor" is used to describe the technology of this disclosure. However, as a result of studies by the present inventors, it has become clear that the invention according to the present disclosure does not necessarily require the “artificial magnetic conductor” in the conventional definition. That is, it has been considered that a periodic structure is essential for the artificial magnetic conductor, but the periodic structure is not always necessary for carrying out the invention according to the present disclosure.

In the present disclosure, the artificial magnetic conductor is realized with an array of conductive rods. Therefore, in order to stop the electromagnetic waves leaking in the direction away from the waveguide surface, it is essential that there are at least two rows of conductive rods arranged along the waveguide member (ridge) on one side of the waveguide member. It has been thought that there is. This is because the arrangement "cycle" of the conductive rod rows does not exist unless there are at least two rows. However, according to the study by the present inventor, even when only one row of conductive rods is arranged between two waveguide members extending in parallel, one waveguide member is guided to the other waveguide waveguide. The intensity of the signal leaking to the member is suppressed to -10 dB or less. This is a practically sufficient value for many applications. The reason why such a sufficient level of separation is achieved in the presence of only an incomplete periodic structure is currently unknown. However, in consideration of this fact, in the present disclosure, the concept of “artificial magnetic conductor” is expanded, and the term “artificial magnetic conductor” includes a structure in which the conductive rods are arranged in only one row for convenience. And

<Application example 1: In-vehicle radar system>
Next, as an application example using the above-mentioned slot array antenna, an example of a vehicle-mounted radar system equipped with the slot array antenna will be described. The transmission wave used in the vehicle-mounted radar system has a frequency of, for example, 76 GHz (GHz) band, and the wavelength λo in its free space is about 4 mm.

Identification of one or more vehicles (targets) traveling in front of the vehicle is essential for safety technologies such as an automobile collision prevention system and autonomous driving. As a vehicle identification method, the development of a technique for estimating the direction of an incoming wave using a radar system has been conventionally developed.

FIG. 29 shows the host vehicle 500 and a preceding vehicle 502 traveling in the same lane as the host vehicle 500. The host vehicle 500 includes the in-vehicle radar system having the slot array antenna according to any of the above-described embodiments. When the vehicle-mounted radar system of the host vehicle 500 emits a high-frequency transmission signal, the transmission signal reaches the preceding vehicle 502, is reflected by the preceding vehicle 502, and part of the transmission signal returns to the own vehicle 500 again. The in-vehicle radar system receives the signal and calculates the position of the preceding vehicle 502, the distance to the preceding vehicle 502, the speed, and the like.

FIG. 30 shows an in-vehicle radar system 510 of the own vehicle 500. The in-vehicle radar system 510 is arranged inside the vehicle. More specifically, the in-vehicle radar system 510 is arranged on the surface opposite to the mirror surface of the rear view mirror. The in-vehicle radar system 510 radiates a high-frequency transmission signal from the inside of the vehicle toward the traveling direction of the vehicle 500, and receives a signal coming from the traveling direction.

The in-vehicle radar system 510 according to this application example includes the slot array antenna according to the embodiment of the present disclosure. The slot array antenna may have a plurality of waveguide members that are parallel to each other. The plurality of waveguide members are arranged such that the extending direction of each of the plurality of waveguide members coincides with the vertical direction, and the arrangement direction of the plurality of waveguide members coincides with the horizontal direction. Therefore, it is possible to further reduce the horizontal and vertical dimensions when the plurality of slots are viewed from the front.

An example of the dimensions of the antenna device including the array antenna described above is 60×30×10 mm in width×length×depth. It is understood that the millimeter-wave radar system in the 76 GHz band has a very small size.

Many conventional vehicle-mounted radar systems are installed outside the vehicle, for example, at the tip of the front nose. The reason is that the size of the in-vehicle radar system is relatively large and it is difficult to install it in the vehicle as in the present disclosure. The in-vehicle radar system 510 according to this application example can be installed in the vehicle as described above, but may be installed at the tip of the front nose. Since the area occupied by the on-vehicle radar system can be reduced in the front nose, other components can be easily arranged.

According to this application example, the spacing between the plurality of waveguide members (ridges) used for the transmitting antenna can be narrowed, so that the spacing between the plurality of slots provided facing the plurality of adjacent waveguide members is also narrow. can do. Thereby, the influence of the grating lobe can be suppressed. For example, when the center interval between two horizontally adjacent slots is shorter than the free space wavelength λo of the transmitted wave (less than about 4 mm), the grating lobe does not occur forward. Thereby, the influence of the grating lobe can be suppressed. The grating lobe appears when the arrangement interval of the antenna elements becomes larger than half the wavelength of the electromagnetic wave. However, if the arrangement interval is less than the wavelength, the grating lobe does not appear in the front. For this reason, if beam steering that gives a phase difference to the radio waves radiated from each antenna element that constitutes the array antenna is not performed, the grating lobe will be substantially affected if the spacing between the antenna elements is smaller than the wavelength. do not do. The directivity of the transmitting antenna can be adjusted by adjusting the array factor of the transmitting antenna. A phase shifter may be provided so that the phases of the electromagnetic waves transmitted on the plurality of waveguide members can be individually adjusted. In that case, even if the arrangement interval of the antenna elements is set to be less than the free space wavelength λo of the transmitted wave, a grating lobe appears when the amount of phase shift is increased. However, when the arrangement interval of the antenna elements is shortened to less than half the free space wavelength λo of the transmitted wave, no grating lobe appears regardless of the phase shift amount. By providing the phase shifter, the directivity of the transmitting antenna can be changed to an arbitrary direction. Since the structure of the phase shifter is well known, the description of the structure is omitted.

Since the receiving antenna in this application example can reduce the reception of the reflected wave originating from the grating lobe, the accuracy of the processing described below can be improved. Hereinafter, an example of the reception process will be described.

FIG. 31A shows the relationship between the array antenna AA of the in-vehicle radar system 510 and a plurality of incoming waves k (k: an integer of 1 to K; the same applies hereinafter; K is the number of targets existing in different directions). There is. The array antenna AA has M antenna elements arranged in a straight line. In principle, the antenna can be used for both transmission and reception, so that the array antenna AA can include both transmission and reception antennas. Hereinafter, an example of a method of processing an incoming wave received by a receiving antenna will be described.

The array antenna AA receives a plurality of incoming waves that are simultaneously incident from various angles. The plurality of arriving waves include arriving waves radiated from the transmitting antenna of the same vehicle-mounted radar system 510 and reflected by the target. Further, the plurality of incoming waves include direct or indirect incoming waves emitted from other vehicles.

The incident angle of the incoming wave (that is, the angle indicating the incoming direction) represents the angle with reference to the broadside B of the array antenna AA. The incident angle of the incoming wave represents the angle with respect to the direction perpendicular to the straight line direction in which the antenna element groups are arranged.

Now, pay attention to the kth incoming wave. The “kth incoming wave” means an incoming wave identified by the incident angle θ _k when K incoming waves are incident on the array antenna from K targets existing in different directions. ..

FIG. 31B shows an array antenna AA that receives the kth incoming wave. The signal received by the array antenna AA can be expressed as a "vector" having M elements as shown in Equation 1.
(Equation 1)
S=[s ₁ , s ₂ ,..., S _M ] ^T

Here, s _m (m: an integer of 1 to M; the same applies below) is the value of the signal received by the m-th antenna element. The superscript T means transposition. S is a column vector. The column vector S is given by the product of a direction vector (referred to as a steering vector or a mode vector) determined by the configuration of the array antenna and a complex vector indicating a signal at a target (also referred to as a wave source or a signal source). When the number of wave sources is K, the waves of the signals arriving from the wave sources to the individual antenna elements are linearly superimposed. In this case, s _m can be expressed as Equation 2.

In Equation 2, a _k , θ _k, and φ _k are the amplitude of the k-th incoming wave, the incident angle of the incoming wave, and the initial phase, respectively. λ represents the wavelength of the incoming wave, and j is an imaginary unit.

As can be understood from Expression 2, s _m is expressed as a complex number composed of a real part (Re) and an imaginary part (Im).

Further generalizing in consideration of noise (internal noise or thermal noise), the array received signal X can be expressed as shown in Equation 3.
(Equation 3)
X=S+N
N is a vector representation of noise.

The signal processing circuit obtains the autocorrelation matrix Rxx (Equation 4) of the incoming wave using the array reception signal X shown in Equation 3, and further obtains each eigenvalue of the autocorrelation matrix Rxx.

Here, the superscript H represents a complex conjugate transpose (Hermitian conjugate).

Of the plurality of obtained eigenvalues, the number of eigenvalues (signal space eigenvalues) having a value equal to or larger than a predetermined value determined by thermal noise corresponds to the number of incoming waves. Then, the number of targets and the angle at which each target exists can be specified by calculating the angle at which the likelihood of the direction of arrival of the reflected wave becomes maximum (maximum likelihood). This process is known as the maximum likelihood estimation method.

Next, refer to FIG. FIG. 32 is a block diagram showing an example of the basic configuration of the vehicle travel control device 600 according to the present disclosure. A vehicle travel control device 600 shown in FIG. 32 includes a radar system 510 mounted on a vehicle and a travel support electronic control device 520 connected to the radar system 510. The radar system 510 includes an array antenna AA and a radar signal processing device 530.

The array antenna AA has a plurality of antenna elements, each of which outputs a reception signal in response to one or more incoming waves. As described above, the array antenna AA can also radiate high frequency millimeter waves.

The array antenna AA of the radar system 510 needs to be attached to the vehicle. However, at least a part of the functions of the radar signal processing device 530 may be realized by the computer 550 and the database 552 provided outside the vehicle travel control device 600 (for example, outside the own vehicle). In that case, the portion of the radar signal processing device 530 located inside the vehicle is connected to the computer 550 and the database 552 provided outside the vehicle at all times or at any time so that two-way communication of signals or data can be performed. Can be done. The communication is performed via the communication device 540 included in the vehicle and a general communication network.

The database 552 may store programs that define various signal processing algorithms. The contents of data and programs necessary for the operation of the radar system 510 can be updated externally via the communication device 540. As described above, at least a part of the functions of the radar system 510 can be realized outside the own vehicle (including the inside of another vehicle) by the technology of cloud computing. Therefore, the "onboard" radar system of the present disclosure does not require that all of the components be mounted on the vehicle. However, for the sake of simplicity, the present application describes a mode in which all of the components of the present disclosure are mounted in one vehicle (own vehicle), unless otherwise specified.

The radar signal processing device 530 has a signal processing circuit 560. The signal processing circuit 560 receives a received signal directly or indirectly from the array antenna AA, and inputs the received signal or a secondary signal generated from the received signal to the incoming wave estimation unit AU. Part or all of a circuit (not shown) that generates a secondary signal from the received signal does not need to be provided inside the signal processing circuit 560. Part or all of such a circuit (preprocessing circuit) may be provided between the array antenna AA and the radar signal processing device 530.

The signal processing circuit 560 is configured to perform calculation using the received signal or the secondary signal and output a signal indicating the number of incoming waves. Here, the “signal indicating the number of incoming waves” can be referred to as a signal indicating the number of one or more preceding vehicles traveling in front of the host vehicle.

The signal processing circuit 560 may be configured to execute various kinds of signal processing executed by a known radar signal processing device. For example, the signal processing circuit 560 may perform a "super resolution algorithm" (super resolution method) such as the MUSIC method, the ESPRIT method, and the SAGE method, or another DOA estimation algorithm having a relatively low resolution. Can be configured.

The arrival wave estimation unit AU shown in FIG. 32 estimates the angle indicating the azimuth of the arrival wave by an arbitrary arrival direction estimation algorithm, and outputs a signal indicating the estimation result. The signal processing circuit 560 estimates the distance to the target that is the wave source of the incoming wave, the relative speed of the target, and the azimuth of the target by a known algorithm executed by the incoming wave estimation unit AU, and shows the estimation result. Output a signal.

The term “signal processing circuit” in the present disclosure is not limited to a single circuit, and also includes a mode in which a combination of a plurality of circuits is conceptually regarded as one functional component. The signal processing circuit 560 may be realized by one or a plurality of system-on-chip (SoC). For example, part or all of the signal processing circuit 560 may be an FPGA (Field-Programmable Gate Array) which is a programmable logic device (PLD). In that case, the signal processing circuit 560 includes a plurality of arithmetic elements (for example, general-purpose logic and multiplier) and a plurality of memory elements (for example, a look-up table or a memory block). Alternatively, the signal processing circuit 560 may be a collection of general purpose processors and main memory devices. The signal processing circuit 560 may be a circuit including a processor core and a memory. These can function as the signal processing circuit 560.

The drive assist electronic control unit 520 is configured to assist the drive of the vehicle based on various signals output from the radar signal processing device 530. The driving assistance electronic control unit 520 gives instructions to various electronic control units so as to perform a predetermined function. The predetermined function is, for example, a function of issuing an alarm to prompt the driver to perform a brake operation when the distance to the preceding vehicle (inter-vehicle distance) becomes shorter than a preset value, a function of controlling the brake, and an accelerator control. Including the function to do. For example, in the operation mode in which the adaptive cruise control of the host vehicle is performed, the driving assistance electronic control device 520 sends a predetermined signal to various electronic control units (not shown) and actuators to determine the distance from the host vehicle to the preceding vehicle. It is maintained at a preset value or the traveling speed of the host vehicle is maintained at a preset value.

In the case of the MUSIC method, the signal processing circuit 560 obtains each eigenvalue of the autocorrelation matrix and outputs a signal indicating the number of eigenvalues (signal space eigenvalues) larger than a predetermined value (thermal noise power) determined by thermal noise among them. It is output as a signal indicating the number of incoming waves.

Next, refer to FIG. FIG. 33 is a block diagram showing another example of the configuration of the vehicle travel control device 600. The radar system 510 in the vehicle travel control device 600 of FIG. 33 includes an array antenna AA including an array antenna (also referred to as a reception antenna) Rx dedicated to reception and an array antenna (also referred to as a transmission antenna) Tx dedicated to transmission, and object detection. Device 570.

At least one of the transmitting antenna Tx and the receiving antenna Rx has the above-described waveguide structure. The transmission antenna Tx radiates a transmission wave that is a millimeter wave, for example. The reception antenna Rx dedicated to reception outputs a reception signal in response to one or a plurality of incoming waves (for example, millimeter waves).

The transmission/reception circuit 580 sends the transmission signal for the transmission wave to the transmission antenna Tx, and also performs “preprocessing” of the reception signal by the reception wave received by the reception antenna Rx. Part or all of the preprocessing may be performed by the signal processing circuit 560 of the radar signal processing device 530. A typical example of the pre-processing performed by the transmission/reception circuit 580 may include generating a beat signal from the received signal and converting the received signal in analog form into a received signal in digital form.

In the present specification, a device having a transmission antenna, a reception antenna, a transmission/reception circuit, and a waveguide device that propagates electromagnetic waves between the transmission antenna and the reception antenna and the transmission/reception circuit is referred to as a “radar device”. A system including an object detection device (including a signal processing circuit) in addition to the radar device is called a “radar system”.

The radar system according to the present disclosure is not limited to the example of the form mounted on a vehicle, and may be used by being fixed to a road or a building.

Subsequently, an example of a more specific configuration of the vehicle travel control device 600 will be described.

FIG. 34 is a block diagram showing an example of a more specific configuration of the vehicle travel control device 600. The vehicle travel control device 600 shown in FIG. 34 includes a radar system 510 and an in-vehicle camera system 700. The radar system 510 includes an array antenna AA, a transmission/reception circuit 580 connected to the array antenna AA, and a signal processing circuit 560.

The in-vehicle camera system 700 has an in-vehicle camera 710 mounted in a vehicle and an image processing circuit 720 that processes an image or video captured by the in-vehicle camera 710.

The vehicle travel control device 600 in this application example includes an object detection device 570 connected to the array antenna AA and the in-vehicle camera 710, and a travel support electronic control device 520 connected to the object detection device 570. The object detection device 570 includes a transmission/reception circuit 580 and an image processing circuit 720 in addition to the radar signal processing device 530 (including the signal processing circuit 560) described above. The object detection device 570 can detect the target on or near the road using not only the information obtained by the radar system 510 but also the information obtained by the image processing circuit 720. For example, the lane in which the vehicle is traveling is determined by the image processing circuit 720 while the vehicle is traveling in one of two or more lanes in the same direction. The result of the determination can be given to the signal processing circuit 560. When the signal processing circuit 560 recognizes the number and direction of preceding vehicles by a predetermined arrival direction estimation algorithm (for example, the MUSIC method), the signal processing circuit 560 refers to the information from the image processing circuit 720 to obtain a more reliable arrangement of the preceding vehicles. It becomes possible to provide highly accurate information.

The vehicle-mounted camera system 700 is an example of means for identifying which lane the vehicle is traveling in. You may specify the lane position of the own vehicle using other means. For example, it is possible to specify which lane of the plurality of lanes the vehicle is traveling in using ultra wide band (UWB). It is widely known that ultra-wideband radio can be used as position measurement and/or radar. If the ultra-wideband is used, the range resolution of the radar is improved, so that even if there are many vehicles ahead, individual targets can be detected separately based on the difference in distance. Therefore, it is possible to accurately specify the distance from the guardrail of the road shoulder or the median strip. The width of each lane is predetermined by the laws of each country. By using these pieces of information, the position of the lane in which the vehicle is currently traveling can be specified. Note that ultra-wideband wireless is an example. Other radio waves may be used. In addition, a lidar (LIDAR: Light Detection and Ranging) may be used in combination with the radar. LIDAR is sometimes called a laser radar.

The array antenna AA may be a general vehicle-mounted millimeter-wave array antenna. The transmission antenna Tx in this application example radiates a millimeter wave as a transmission wave in front of the vehicle. Some of the transmitted waves are reflected by the target, which is typically the vehicle in front. As a result, a reflected wave whose source is the target is generated. A part of the reflected wave reaches the array antenna (reception antenna) AA as an incoming wave. Each of the plurality of antenna elements forming the array antenna AA outputs a reception signal in response to one or more incoming waves. When the number of targets that function as the wave source of the reflected wave is K (K is an integer of 1 or more), the number of incoming waves is K, but the number K of incoming waves is not known.

In the example of FIG. 32, the radar system 510 is arranged integrally with the rear view mirror including the array antenna AA. However, the number and the position of the array antenna AA are not limited to the specific number and the specific position. The array antenna AA may be arranged on the rear surface of the vehicle so that a target object located behind the vehicle can be detected. Further, a plurality of array antennas AA may be arranged on the front surface or the rear surface of the vehicle. The array antenna AA may be arranged inside the vehicle. Even when a horn antenna having the above-mentioned horns for each antenna element is adopted as the array antenna AA, the array antenna including such an antenna element can be arranged inside the vehicle.

The signal processing circuit 560 receives and processes the reception signal received by the reception antenna Rx and preprocessed by the transmission/reception circuit 580. This processing includes inputting the received signal to the incoming wave estimation unit AU, or generating a secondary signal from the received signal and inputting the secondary signal to the incoming wave estimation unit AU.

In the example of FIG. 34, a selection circuit 596 that receives a signal output from the signal processing circuit 560 and a signal output from the image processing circuit 720 is provided in the object detection device 570. The selection circuit 596 gives one or both of the signal output from the signal processing circuit 560 and the signal output from the image processing circuit 720 to the travel assistance electronic control unit 520.

FIG. 35 is a block diagram showing a more detailed configuration example of the radar system 510 in this application example.

As shown in FIG. 35, the array antenna AA includes a transmission antenna Tx that transmits a millimeter wave and a reception antenna Rx that receives an incoming wave reflected by a target. Although there is one transmission antenna Tx in the drawing, two or more types of transmission antennas having different characteristics may be provided. The array antenna AA includes M antenna elements 11 ₁ , 11 ₂ ,..., 11 _M (M is an integer of 3 or more). Each of the plurality of antenna elements 11 ₁ , 11 ₂ ,..., 11 _M outputs received signals s ₁ , s ₂ ,..., S _M (FIG. 31B) in response to an incoming wave.

In the array antenna AA, the antenna elements 11 _{1 to} 11 _M are, for example, arranged in a straight line or a plane at fixed intervals. The arriving wave enters the array antenna AA from the direction of an angle θ with respect to the normal line of the surface on which the antenna elements 11 _{1 to} 11 _M are arranged. Therefore, the arrival direction of the incoming wave is defined by this angle θ.

When an incoming wave from one target is incident on the array antenna AA, the antenna elements 11 ₁ ...
It can be approximated that a plane wave is incident on 11 _M from the same azimuth angle θ. When K incoming waves are incident on the array antenna AA from K targets located in different azimuths, the individual incoming waves can be identified by mutually different angles θ _{1 to} θ _K.

As shown in FIG. 35, the object detection device 570 includes a transmission/reception circuit 580 and a signal processing circuit 560.

The transmission/reception circuit 580 includes a triangular wave generation circuit 581, a VCO (Voltage-Controlled-Oscillator) 582, a distributor 583, a mixer 584, a filter 585, a switch 586, an A/D converter 587, and a controller 588. The radar system in this application example is configured to perform millimeter wave transmission/reception with the FMCW method, but the radar system of the present disclosure is not limited to this method. The transmission/reception circuit 580 is configured to generate a beat signal based on the reception signal from the array antenna AA and the transmission signal for the transmission antenna Tx.

The signal processing circuit 560 includes a distance detection unit 533, a speed detection unit 534, and an azimuth detection unit 536. The signal processing circuit 560 processes the signal from the A/D converter 587 of the transmission/reception circuit 580 and outputs a signal indicating the distance to the detected target, the relative speed of the target, and the azimuth of the target, respectively. It is configured.

First, the configuration and operation of the transmission/reception circuit 580 will be described in detail.

The triangular wave generation circuit 581 generates a triangular wave signal and supplies it to the VCO 582. The VCO 582 outputs a transmission signal having a frequency modulated based on the triangular wave signal. FIG. 36 shows the frequency change of the transmission signal modulated based on the signal generated by the triangular wave generation circuit 581. The modulation width of this waveform is Δf, and the center frequency is f0. The transmission signal whose frequency is thus modulated is given to the distributor 583. The distributor 583 distributes the transmission signal obtained from the VCO 582 to each mixer 584 and the transmission antenna Tx. Thus, the transmitting antenna radiates a millimeter wave having a frequency modulated in a triangular wave shape as shown in FIG.

In FIG. 36, in addition to the transmission signal, an example of the reception signal due to the incoming wave reflected by a single preceding vehicle is described. The received signal is delayed compared to the transmitted signal. This delay is proportional to the distance between the own vehicle and the preceding vehicle. In addition, the frequency of the received signal increases or decreases according to the relative speed of the preceding vehicle due to the Doppler effect.

When the received signal and the transmitted signal are mixed, a beat signal is generated based on the difference in frequency. The frequency of the beat signal (beat frequency) is different in the period in which the frequency of the transmission signal increases (up) and the period in which the frequency of the transmission signal decreases (down). When the beat frequency in each period is obtained, the distance to the target and the relative speed of the target are calculated based on the beat frequencies.

FIG. 37 shows the beat frequency fu in the “up” period and the beat frequency fd in the “down” period. In the graph of FIG. 37, the horizontal axis represents frequency and the vertical axis represents signal intensity. Such a graph is obtained by performing time-frequency conversion of the beat signal. When the beat frequencies fu and fd are obtained, the distance to the target and the relative speed of the target are calculated based on known equations. In this application example, with the configuration and operation described below, it becomes possible to obtain the beat frequency corresponding to each antenna element of the array antenna AA and estimate the position information of the target based on the beat frequency.

In the example shown in FIG. 35, the received signal from the channel Ch ₁ to CH _M corresponding to each antenna element 11 ₁ to 11 _M is amplified by the amplifier is input to the corresponding mixer 584. Each of the mixers 584 mixes the transmitted signal with the amplified received signal. By this mixing, a beat signal corresponding to the frequency difference between the reception signal and the transmission signal is generated. The generated beat signal is provided to the corresponding filter 585. The filter 585 performs band limitation on the beat signals of the channels Ch _{1 to} Ch _M , and supplies the band limited beat signal to the switch 586.

The switch 586 executes switching in response to the sampling signal input from the controller 588. The controller 588 can be configured by, for example, a microcomputer. The controller 588 controls the entire transmission/reception circuit 580 based on a computer program stored in a memory such as a ROM. The controller 588 does not need to be provided inside the transmission/reception circuit 580, and may be provided inside the signal processing circuit 560. That is, the transmission/reception circuit 580 may operate according to the control signal from the signal processing circuit 560. Alternatively, a part or all of the functions of the controller 588 may be realized by a central processing unit that controls the entire transmission/reception circuit 580 and the signal processing circuit 560.

The beat signals of the channels Ch _{1 to} Ch _M that have passed through each of the filters 585 are sequentially applied to the A/D converter 587 via the switch 586. The A/D converter 587 converts the beat signals of the channels Ch _{1 to} Ch _M input from the switch 586 into digital signals in synchronization with the sampling signals.

Hereinafter, the configuration and operation of the signal processing circuit 560 will be described in detail. In this application example, the distance to the target and the relative speed of the target are estimated by the FMCW method. The radar system is not limited to the FMCW system described below, but can be implemented using other systems such as dual frequency CW or spread spectrum.

In the example shown in FIG. 35, the signal processing circuit 560 includes a memory 531, a reception intensity calculation unit 532, a distance detection unit 533, a speed detection unit 534, a DBF (digital beam forming) processing unit 535, an azimuth detection unit 536, and a target. The handover processing unit 537, the correlation matrix generation unit 538, the target output processing unit 539, and the arrival wave estimation unit AU are provided. As described above, part or all of the signal processing circuit 560 may be realized by the FPGA, or may be realized by a set of the general-purpose processor and the main memory device. The memory 531, the reception intensity calculation unit 532, the DBF processing unit 535, the distance detection unit 533, the speed detection unit 534, the azimuth detection unit 536, the target succession processing unit 537, and the arrival wave estimation unit AU are separate hardware units. It may be an individual component realized by, or may be a functional block in one signal processing circuit.

FIG. 38 shows an example of a form in which the signal processing circuit 560 is realized by hardware including a processor PR and a memory device MD. The signal processing circuit 560 having such a configuration is also operated by the computer program stored in the memory device MD, so that the reception intensity calculating unit 532, the DBF processing unit 535, the distance detecting unit 533, the speed detecting unit 534 shown in FIG. The functions of the azimuth detection unit 536, the target transfer processing unit 537, the correlation matrix generation unit 538, and the arrival wave estimation unit AU can be fulfilled.

The signal processing circuit 560 in this application example is configured to estimate the position information of the preceding vehicle using each beat signal converted into a digital signal as a secondary signal of the received signal, and output a signal indicating the estimation result. .. The configuration and operation of the signal processing circuit 560 in this application example will be described in detail below.

The memory 531 in the signal processing circuit 560 stores the digital signal output from the A/D converter 587 for each of the channels Ch ₁ to Ch _M. The memory 531 can be configured by a general storage medium such as a semiconductor memory, a hard disk and/or an optical disk, for example.

The reception intensity calculation unit 532 performs a Fourier transform on the beat signal (lower diagram in FIG. 36) for each of the channels Ch _{1 to} Ch _M stored in the memory 531. In this specification, the amplitude of the complex number data after the Fourier transform is referred to as “signal strength”. The reception strength calculation unit 532 converts the complex number data of the reception signals of any of the plurality of antenna elements or the added value of the complex number data of all the reception signals of the plurality of antenna elements into a frequency spectrum. The beat frequency corresponding to each peak value of the spectrum thus obtained, that is, the presence of the target (leading vehicle) depending on the distance can be detected. When the complex number data of the received signals of all the antenna elements are added, the noise component is averaged, so that the S/N ratio is improved.

When there is one target, that is, the preceding vehicle, as a result of the Fourier transform, as shown in FIG. 37, during the period in which the frequency increases (the "up" period) and the frequency decrease (the "down" period), A spectrum is obtained, each having one peak value. The peak frequency beat frequency in the “up” period is “fu”, and the peak frequency beat frequency in the “down” period is “fd”.

The reception strength calculation unit 532 determines that the target exists by detecting a signal strength that exceeds a preset numerical value (threshold value) from the signal strength for each beat frequency. When the peak of the signal strength is detected, the reception strength calculation unit 532 outputs the beat frequency (fu, fd) of the peak value as the object frequency to the distance detection unit 533 and the speed detection unit 534. The reception strength calculation unit 532 outputs information indicating the frequency modulation width Δf to the distance detection unit 533, and outputs information indicating the center frequency f0 to the speed detection unit 534.

When the signal strength peaks corresponding to a plurality of targets are detected, the reception strength calculation unit 532 associates the upstream peak value and the downstream peak value with a predetermined condition. The same number is given to peaks determined to be signals from the same target, and the peaks are given to the distance detecting section 533 and the speed detecting section 534.

When a plurality of targets are present, after Fourier transform, peaks of the same number as the number of targets appear in each of the rising part of the beat signal and the falling part of the beat signal. Since the received signal is delayed in proportion to the distance between the radar and the target and the received signal in FIG. 36 shifts to the right, the frequency of the beat signal increases as the distance between the radar and the target increases.

The distance detection unit 533 calculates the distance R by the following formula based on the beat frequencies fu and fd input from the reception intensity calculation unit 532, and gives the distance R to the target takeover processing unit 537.
R={c·T/(2·Δf)}·{(fu+fd)/2}

Further, the speed detection unit 534 calculates the relative speed V by the following formula based on the beat frequencies fu and fd input from the reception intensity calculation unit 532, and gives the relative speed V to the target transfer processing unit 537.
V={c/(2·f0)}·{(fu-fd)/2}

In the formula for calculating the distance R and the relative speed V, c is the speed of light and T is the modulation period.

The lower limit resolution of the distance R is represented by c/(2Δf). Therefore, the resolution of the distance R increases as Δf increases. Δf when the frequency f0 is in the 76 GHz band
Is set to about 660 megahertz (MHz), the resolution of the distance R is, for example, about 0.23 meters (m). For this reason, when two preceding vehicles are running side by side, it may be difficult for the FMCW system to distinguish between one vehicle and two vehicles. In such a case, if the arrival direction estimation algorithm having an extremely high angular resolution is executed, the azimuths of the two preceding vehicles can be detected separately.

The DBF processing unit 535 uses the phase difference of the signals in the antenna elements 11 ₁ , 11 ₂ ,..., 11 _{M to} convert the complex data Fourier-transformed on the time axis corresponding to each input antenna to the antenna. Fourier transform is performed in the array direction of the elements. Then, the DBF processing unit 535 calculates spatial complex number data indicating the spectrum intensity for each angle channel corresponding to the angular resolution, and outputs the spatial complex number data to the azimuth detecting unit 536 for each beat frequency.

The azimuth detecting unit 536 is provided to estimate the azimuth of the preceding vehicle. The azimuth detecting unit 536 outputs the angle θ having the largest value among the calculated magnitudes of the spatial complex number data for each beat frequency to the target takeover processing unit 537 as the azimuth in which the object exists.

The method of estimating the angle θ indicating the arrival direction of the arrival wave is not limited to this example. This can be done using the various DOA estimation algorithms described above.

The target transfer processing unit 537 respectively calculates the distance, relative speed, and azimuth value of the object calculated this time, and the distance, relative speed, and azimuth value of the object calculated one cycle before read from the memory 531. The absolute value of the difference of is calculated. Then, when the absolute value of the difference is smaller than the value determined for each value, the target takeover processing unit 537 determines that the target detected one cycle before and the target detected this time are the same. To do. In that case, the target takeover processing unit 537 increments the number of times of taking over the target read from the memory 531 by one.

When the absolute value of the difference is larger than the determined value, the target transfer processing unit 537 determines that a new target object has been detected. The target takeover processing unit 537 stores the distance, the relative speed, the azimuth, and the number of times of the target takeover processing of the target this time in the memory 531.

The signal processing circuit 560 can detect the distance to the object and the relative speed by using the spectrum obtained by frequency-analyzing the beat signal which is a signal generated based on the received reflected wave.

The correlation matrix generation unit 538 obtains the autocorrelation matrix using the beat signals (lower diagram of FIG. 36) for each of the channels Ch _{1 to} Ch _M stored in the memory 531. In the autocorrelation matrix of Expression 4, the components of each matrix are values represented by the real part and the imaginary part of the beat signal. The correlation matrix generation unit 538 further obtains each eigenvalue of the autocorrelation matrix Rxx, and inputs information on the obtained eigenvalue to the incoming wave estimation unit AU.

When a plurality of signal strength peaks corresponding to a plurality of objects are detected, the reception intensity calculation unit 532 assigns numbers in order from the smallest frequency to each peak value of the upstream portion and the downstream portion, It is output to the target output processing unit 539. Here, in the up and down parts, the peaks having the same number correspond to the same object, and the respective identification numbers are the object numbers. Note that, in order to avoid complication, a leader line from the reception intensity calculation unit 532 to the target output processing unit 539 is omitted in FIG. 35.

The target output processing unit 539 outputs the identification number of the target as a target when the target is a front structure. The target output processing unit 539 receives the determination results of a plurality of objects, and when both of them are front structures, the target position output information is the identification number of the object on the lane of the own vehicle. Output as. In addition, the target output processing unit 539 receives the determination results of a plurality of objects, both of which are front structures, and when two or more objects are on the lane of the host vehicle, The identification number of the target object, which has been read out from the memory 531 and has a large number of times of the target object transfer processing, is output as the object position information where the target object exists.

With reference to FIG. 34 again, an example in which the on-vehicle radar system 510 is incorporated in the configuration example shown in FIG. 34 will be described. The image processing circuit 720 acquires the information of the object from the video and detects the target position information from the information of the object. The image processing circuit 720 detects the depth value of the object in the acquired video to estimate the distance information of the object, or detects the size information of the object from the video feature quantity, for example. It is configured to detect preset position information of the object.

The selection circuit 596 selectively supplies the position information received from the signal processing circuit 560 and the image processing circuit 720 to the travel support electronic control unit 520. The selection circuit 596 is included in the object position information of the image processing circuit 720 and the first distance that is included in the object position information of the signal processing circuit 560 and is the distance from the own vehicle to the detected object. , And a second distance, which is the distance from the host vehicle to the detected object, is compared to determine which is the short distance to the host vehicle. For example, based on the result of the determination, the selection circuit 596 can select the object position information closer to the host vehicle and output it to the travel support electronic control unit 520. When the first distance and the second distance have the same value as a result of the determination, the selection circuit 596 can output one or both of them to the travel support electronic control unit 520.

When the information indicating that there is no target candidate is input from the reception intensity calculation unit 532, the target output processing unit 539 (FIG. 35) outputs zero as the target position information indicating that there is no target. Then, the selection circuit 596 selects whether to use the object position information of the signal processing circuit 560 or the image processing circuit 720 by comparing with the preset threshold value based on the object position information from the target output processing unit 539. ing.

The travel support electronic control device 520 that has received the position information of the preceding object by the object detection device 570, the distance and size of the object position information, the speed of the own vehicle, the road surface such as rainfall, snowfall, and clear weather, according to preset conditions. In addition to conditions such as the state, control is performed so that the driver who is driving the host vehicle can operate safely or easily. For example, when no object is detected in the object position information, the driving assistance electronic control unit 520 sends a control signal to the accelerator control circuit 526 to increase the speed to a preset speed, and controls the accelerator control circuit 526. Then, the same operation as depressing the accelerator pedal is performed.

When the object is detected in the object position information, if the drive assist electronic control unit 520 knows that the vehicle is at a predetermined distance from the host vehicle, the drive assist electronic control unit 520 uses a brake-by-wire or the like to control the brake via the brake control circuit 524. Take control. That is, the operation is performed so as to reduce the speed and keep the inter-vehicle distance constant. The driving assistance electronic control unit 520 receives the object position information, sends a control signal to the warning control circuit 522, and controls the lighting of a voice or a lamp so as to notify the driver that the preceding object is approaching via the in-vehicle speaker. To do. The driving assistance electronic control unit 520 receives the object position information including the position of the preceding vehicle, and automatically shifts the steering wheel to the left or right in order to assist the collision avoidance with the preceding object within a preset traveling speed range. The hydraulic pressure on the steering side can be controlled so that the steering wheel can be easily operated or the direction of the wheels can be forcibly changed.

In the object detection device 570, the data of the object position information that the selection circuit 596 has continuously detected for a certain period of time in the previous detection cycle, and the data that could not be detected in the current detection cycle is detected from the camera image detected by the camera. If the object position information indicating the preceding object is linked, it is possible to determine to continue the tracking and preferentially output the object position information from the signal processing circuit 560.

Examples of specific configurations and operations for selecting the outputs of the signal processing circuit 560 and the image processing circuit 720 to the selection circuit 596 are described in US Pat. No. 8,446312, US Pat. No. 8730096, and US Pat. No. 8730099. The entire contents of this publication are incorporated herein.

[First Modification]
In the on-vehicle radar system of the above application example, the (sweep) condition of one frequency modulation of the frequency-modulated continuous wave FMCW, that is, the time width required for the modulation (sweep time) is, for example, 1 millisecond. However, the sweep time can be shortened to about 100 microseconds.

However, in order to realize such a high-speed sweep condition, it is necessary to operate not only the component related to the emission of the transmitted wave but also the component related to reception under the sweep condition at high speed. .. For example, it is necessary to provide the A/D converter 587 (FIG. 35) that operates at high speed under the sweep conditions. The sampling frequency of the A/D converter 587 is, for example, 10 MHz. The sampling frequency may be faster than 10 MHz.

In this modification, the relative velocity with respect to the target is calculated without using the frequency component based on the Doppler shift. In this modification, the sweep time Tm=100 microseconds, which is very short. Since the lowest frequency of the beat signal that can be detected is 1/Tm, it becomes 10 kHz in this case. This corresponds to the Doppler shift of the reflected wave from the target having a relative velocity of approximately 20 m/sec. That is, as long as it relies on the Doppler shift, it is impossible to detect a relative speed lower than this. Therefore, it is preferable to adopt a calculation method different from the calculation method based on the Doppler shift.

In this modification, as an example, a process of using a signal (upbeat signal) of a difference between a transmission wave and a reception wave, which is obtained in an upbeat section where the frequency of the transmission wave increases, will be described. The sweep time for one FMCW is 100 microseconds, and the waveform is a sawtooth shape consisting of only the upbeat portion. That is, in this modification, the signal wave generated by the triangular wave/CW wave generation circuit 581 has a sawtooth shape. The frequency sweep width is 500 MHz. Since the peak associated with the Doppler shift is not used, the processing of generating the upbeat signal and the downbeat signal and utilizing both peaks is not performed, but the processing is performed using only one of the signals. Although the case of using the upbeat signal will be described here, the same processing can be performed when the downbeat signal is used.

The A/D converter 587 (FIG. 35) samples each upbeat signal at a sampling frequency of 10 MHz and outputs several hundreds of digital data (hereinafter referred to as “sampling data”). The sampling data is generated, for example, based on the upbeat signal after the time when the reception wave is obtained and until the time when the transmission of the transmission wave ends. The processing may be terminated when a fixed number of sampling data are obtained.

In this modification, the upbeat signal is continuously transmitted and received 128 times, and several hundreds of sampling data are obtained for each. The number of up-beat signals is not limited to 128. The number may be 256, or may be 8. Various numbers can be selected according to the purpose.

The obtained sampling data is stored in the memory 531. The reception intensity calculator 532 executes a two-dimensional fast Fourier transform (FFT) on the sampling data. Specifically, first, the power spectrum is generated by executing the first FFT process (frequency analysis process) for each sampling data obtained by one sweep. Next, the speed detection unit 534 collects the processing results over all the sweep results and executes the second FFT processing.

The frequency of the peak component of the power spectrum detected in each sweep period by the reflected wave from the same target is the same. On the other hand, when the target is different, the frequency of the peak component is different. According to the first FFT processing, it is possible to separate a plurality of targets located at different distances.

When the relative velocity with respect to the target is not zero, the phase of the upbeat signal gradually changes with each sweep. That is, according to the second FFT processing, the power spectrum having the data of the frequency component according to the above-described change in the phase as an element is obtained for each result of the first FFT processing.

The reception intensity calculation unit 532 extracts the peak value of the power spectrum obtained for the second time and sends it to the speed detection unit 534.

The speed detector 534 obtains the relative speed from the change in the phase. For example, it is assumed that the phases of upbeat signals obtained continuously change by the phase θ [RXd]. When the average wavelength of the transmitted wave is λ, it means that the distance changes by λ/(4π/θ) each time one upbeat signal is obtained. This change occurred at the transmission interval Tm (=100 microseconds) of the upbeat signal. Therefore, the relative velocity is obtained by {λ/(4π/θ)}/Tm.

According to the above processing, in addition to the distance to the target, the relative speed with the target can be obtained.

[Second Modification]
Radar system 510 can detect a target using a continuous wave CW at one or more frequencies. This method is particularly useful in environments where multiple reflected waves are incident on the radar system 510 from surrounding stationary objects, such as when the vehicle is in a tunnel.

The radar system 510 includes a receiving antenna array including independent 5-channel receiving elements. In such a radar system, the arrival directions of the reflected waves that are incident can be estimated only when the number of reflected waves that are simultaneously incident is four or less. In the FMCW type radar, by selecting only the reflected waves from a specific distance, it is possible to reduce the number of reflected waves for estimating the arrival direction at the same time. However, in an environment where there are many stationary objects around, such as in a tunnel, the situation is equivalent to the continuous presence of objects that reflect radio waves, so even if the reflected waves are narrowed down based on distance, There may be situations where the number of waves does not go below four. However, since the stationary objects around them all have the same relative speed with respect to the own vehicle, and have a higher relative speed than other vehicles traveling in front, the stationary object and the other vehicle are separated based on the magnitude of the Doppler shift. Can be distinguished.

Therefore, the radar system 510 radiates continuous waves CW having a plurality of frequencies, ignores the peak of Doppler shift corresponding to a stationary object in the received signal, and uses the peak of Doppler shift having a smaller shift amount to determine the distance. Perform detection processing. Unlike the FMCW method, the CW method causes a frequency difference between the transmitted wave and the received wave due to only the Doppler shift. That is, the frequency of the peak appearing in the beat signal depends only on the Doppler shift.

In the description of this modification, the continuous wave used in the CW method is also referred to as “continuous wave CW”. As described above, the frequency of the continuous wave CW is constant and is not modulated.

It is assumed that the radar system 510 radiates a continuous wave CW of frequency fp and detects a reflected wave of frequency fq reflected by the target. The difference between the transmission frequency fp and the reception frequency fq is called the Doppler frequency, and is approximately represented by fp−fq=2·Vr·fp/c. Here, Vr is the relative speed between the radar system and the target, and c is the speed of light. The transmission frequency fp, the Doppler frequency (fp-fq), and the speed of light c are known. Therefore, the relative speed Vr=(fp−fq)·c/2fp can be obtained from this equation. The distance to the target is calculated using the phase information as described later.

To detect the distance to the target by using the continuous wave CW, the dual frequency CW method is adopted. In the two-frequency CW method, continuous waves CW of two frequencies slightly apart from each other are radiated for a certain period of time, and each reflected wave is acquired. For example, when using a frequency in the 76 GHz band, the difference between the two frequencies is several hundred kilohertz. As will be described later, it is more preferable that the difference between the two frequencies is determined in consideration of the limit distance at which the radar used can detect the target.

The radar system 510 sequentially emits continuous waves CW of frequencies fp1 and fp2 (fp1<fp2), and two types of continuous waves CW are reflected by one target, whereby reflected waves of frequencies fq1 and fq2 are generated. It is assumed that the data is received at 510.

The first Doppler frequency is obtained by the continuous wave CW having the frequency fp1 and its reflected wave (frequency fq1). Further, the second Doppler frequency is obtained by the continuous wave CW having the frequency fp2 and its reflected wave (frequency fq2). The two Doppler frequencies are substantially the same value. However, due to the difference between the frequencies fp1 and fp2, the phases of the complex signals of the received waves are different. By using this phase information, the distance to the target can be calculated.

Specifically, the radar system 510 can obtain the distance R as R=c·Δφ/4π(fp2-fp1). Here, Δφ represents the phase difference between the two beat signals. The two beat signals are a beat signal 1 obtained as a difference between a continuous wave CW having a frequency fp1 and its reflected wave (frequency fq1), and a difference between the continuous wave CW having a frequency fp2 and its reflected wave (frequency fq2). The beat signal 2 obtained as The method of identifying the frequency fb1 of the beat signal 1 and the frequency fb2 of the beat signal 2 is the same as the example of the beat signal in the single-frequency continuous wave CW described above.

The relative velocity Vr in the dual frequency CW method is obtained as follows.
Vr=fb1·c/2·fp1 or Vr=fb2·c/2·fp2

The range in which the distance to the target can be uniquely specified is limited to the range of Rmax<c/2(fp2-fp1). This is because a beat signal obtained from a reflected wave from a target farther than this has Δφ exceeding 2π and is indistinguishable from a beat signal caused by a target at a closer position. Therefore, it is more preferable to adjust the difference between the frequencies of the two continuous waves CW so that Rmax is larger than the detection limit distance of the radar. In a radar having a detection limit distance of 100 m, fp2-fp1 is set to 1.0 MHz, for example. In this case, since Rmax=150 m, the signal from the target located at a position exceeding Rmax is not detected. When a radar capable of detecting up to 250 m is installed, fp2-fp1 is set to 500 kHz, for example. In this case, since Rmax=300 m, the signal from the target at the position exceeding Rmax is not detected either. In addition, when the radar has both an operation mode with a detection limit distance of 100 m and a horizontal viewing angle of 120 degrees, and an operation mode with a detection limit distance of 250 m and a horizontal viewing angle of 5 degrees More preferably, in each operation mode, the values of fp2-fp1 are switched to 1.0 MHz and 500 kHz respectively for operation.

A detection method capable of detecting the distance to each target by transmitting continuous waves CW at N (N: an integer of 3 or more) different frequencies and using the phase information of each reflected wave. It has been known. According to the detection method, the distance can be correctly recognized for up to N-1 targets. As a process therefor, for example, a fast Fourier transform (FFT) is used. Now, with N=64 or 128, FFT is performed on the sampling data of the beat signal which is the difference between the transmission signal and the reception signal of each frequency to obtain the frequency spectrum (relative velocity). After that, the distance information can be obtained by further performing FFT on the frequency of the CW wave with respect to the peak of the same frequency.

Hereinafter, it will be described more specifically.

For simplification of description, first, an example will be described in which signals of three frequencies f1, f2, and f3 are temporally switched and transmitted. Here, it is assumed that f1>f2>f3 and f1-f2=f2-f3=Δf. The transmission time of the signal wave of each frequency is Δt. FIG. 39 shows the relationship between the three frequencies f1, f2, and f3.

The triangular wave/CW wave generation circuit 581 (FIG. 35) transmits continuous waves CW of frequencies f1, f2, and f3, each of which lasts for time Δt, via the transmission antenna Tx. The receiving antenna Rx receives a reflected wave in which each continuous wave CW is reflected by one or a plurality of targets.

The mixer 584 mixes the transmitted wave and the received wave to generate a beat signal. The A/D converter 587 converts the beat signal as an analog signal into, for example, several hundreds of digital data (sampling data).

The reception strength calculation unit 532 performs FFT calculation using the sampling data. As a result of the FFT calculation, information on the frequency spectrum of the received signal is obtained for each of the transmission frequencies f1, f2, and f3.

After that, the reception strength calculation unit 532 separates the peak value from the information of the frequency spectrum of the reception signal. The frequency of the peak value having a predetermined magnitude or more is proportional to the relative speed with the target. Separating the peak value from the information of the frequency spectrum of the received signal means separating one or a plurality of targets having different relative velocities.

Next, the reception intensity calculation unit 532 measures the spectrum information of the peak value in which the relative speed is the same or within a predetermined range for each of the transmission frequencies f1 to f3.

Now, consider a case where the two targets A and B have the same relative speed and are present at different distances. The transmission signal of the frequency f1 is reflected by both the targets A and B and obtained as a reception signal. The frequencies of the beat signals of the reflected waves from the targets A and B are almost the same. Therefore, the power spectrum of the received signal at the Doppler frequency corresponding to the relative speed is obtained as a composite spectrum F1 that combines the power spectra of the two targets A and B.

Similarly, for each of the frequencies f2 and f3, the power spectrum of the received signal at the Doppler frequency corresponding to the relative speed is obtained as the combined spectrum F2 and F3 obtained by combining the power spectra of the two targets A and B. To be

FIG. 40 shows the relationship between the synthetic spectra F1 to F3 on the complex plane. The vector on the right side corresponds to the power spectrum of the reflected wave from the target A in the direction of the two vectors forming each of the combined spectra F1 to F3. In FIG. 40, it corresponds to the vectors f1A to f3A. On the other hand, the vector on the left side corresponds to the power spectrum of the reflected wave from the target B in the direction of the two vectors extending each of the combined spectra F1 to F3. In FIG. 40, it corresponds to the vectors f1B to f3B.

When the transmission frequency difference Δf is constant, the phase difference between the reception signals corresponding to the transmission signals of the frequencies f1 and f2 is proportional to the distance to the target. Therefore, the phase difference between the vectors f1A and f2A and the phase difference between the vectors f2A and f3A have the same value θA, and the phase difference θA is proportional to the distance to the target A. Similarly, the phase difference between the vectors f1B and f2B and the phase difference between the vectors f2B and f3B have the same value θB, and the phase difference θB is proportional to the distance to the target B.

The distances from the synthetic spectra F1 to F3 and the transmission frequency difference Δf to each of the targets A and B can be obtained using a known method. This technique is disclosed in, for example, US Pat. No. 6,703,967. The entire contents of this publication are incorporated herein.

Similar processing can be applied when the frequency of the signal to be transmitted becomes 4 or more.

Before transmitting the continuous wave CW at N different frequencies, a process of obtaining the distance to each target and the relative speed may be performed by the two-frequency CW method. Then, under a predetermined condition, the process may be switched to the process of transmitting the continuous wave CW at N different frequencies. For example, the FFT calculation may be performed using the beat signals of the two frequencies, and the processing may be switched when the time change of the power spectrum of each transmission frequency is 30% or more. The amplitude of the reflected wave from each target changes greatly with time due to the influence of multipath. When there is a change above a predetermined level, it is considered that multiple targets may exist.

It is known that the CW method cannot detect a target when the relative speed between the radar system and the target is zero, that is, when the Doppler frequency is zero. However, if the Doppler signal is pseudo-obtained by the following method, for example, it is possible to detect the target by using the frequency.

(Method 1) A mixer for shifting the output of the receiving antenna by a constant frequency is added. A pseudo Doppler signal can be obtained by using the transmission signal and the frequency-shifted reception signal.

(Method 2) A variable phase shifter that continuously changes the phase in time is inserted between the output of the receiving antenna and the mixer, and a pseudo phase difference is added to the received signal. A pseudo Doppler signal can be obtained by using the transmission signal and the reception signal to which the phase difference is added.

An example of a specific configuration for inserting a variable phase shifter and generating a pseudo Doppler signal and an example of operation according to Method 2 are disclosed in Japanese Patent Laid-Open No. 2004-257848. The entire contents of this publication are incorporated herein.

When it is necessary to detect a target object having a relative velocity of zero or a very small target object, the above-described processing for generating the pseudo Doppler signal may be used, or the target object detection processing by the FMCW method. May be switched to.

Next, with reference to FIG. 41, a procedure of processing performed by the object detection device 570 of the in-vehicle radar system 510 will be described.

In the following, an example will be described in which the continuous wave CW is transmitted at two different frequencies fp1 and fp2 (fp1<fp2) and the phase information of each reflected wave is used to detect the distance to the target. ..

FIG. 41 is a flowchart showing a procedure of processing for obtaining relative speed and distance according to this modification.

In step S41, the triangular wave/CW wave generation circuit 581 generates two kinds of different continuous waves CW whose frequencies are slightly different from each other. The frequencies are fp1 and fp2.

In step S42, the transmitting antenna Tx and the receiving antenna Rx perform transmission/reception of the generated continuous wave CW. The processing of step S41 and the processing of step S42 are performed in parallel in the triangular wave/CW wave generation circuit 581 and the transmission antenna Tx/reception antenna Rx, respectively. Note that step S42 is not performed after completion of step S41.

In step S43, the mixer 584 generates two differential signals by using each transmitted wave and each received wave. Each received wave includes a received wave derived from a stationary object and a received wave derived from a target. Therefore, next, a process of identifying the frequency used as the beat signal is performed. The process of step S41, the process of step S42, and the process of step S43 are performed in parallel in the triangular wave/CW wave generation circuit 581, the transmission antenna Tx/reception antenna Rx, and the mixer 584, respectively. Note that step S42 is not performed after completion of step S41, nor is step S43 performed after completion of step S42.

In step S44, the object detection device 570 has, for each of the two difference signals, an amplitude value that is equal to or lower than a predetermined frequency as a threshold and equal to or higher than a predetermined amplitude value, and the difference between the frequencies is small. The peak frequencies that are equal to or less than the predetermined value are specified as the beat signal frequencies fb1 and fb2.

In step S45, the reception intensity calculation unit 532 detects the relative speed based on one of the identified frequencies of the two beat signals. The reception intensity calculation unit 532 calculates the relative speed by, for example, Vr=fb1·c/2·fp1. The relative speed may be calculated using each frequency of the beat signal. As a result, the reception intensity calculation unit 532 can verify whether or not the two match, and improve the calculation accuracy of the relative speed.

In step S46, the reception intensity calculation unit 532 obtains the phase difference Δφ between the two beat signals 1 and 2, and obtains the distance R=c·Δφ/4π(fp2-fp1) to the target.

Through the above processing, the relative speed and distance to the target can be detected.

Note that the continuous wave CW is transmitted at N or more different frequencies of 3 or more, and the phase information of each reflected wave is used to determine the distances to a plurality of targets having the same relative speed and existing at different positions. It may be detected.

The vehicle 500 described above may further include another radar system in addition to the radar system 510. For example, the vehicle 500 may further include a radar system having a detection range behind or on the side of the vehicle body. When a radar system having a detection range is provided in the rear of the vehicle body, the radar system can monitor the rear and can give a response such as issuing an alarm when there is a risk of being hit by another vehicle. When a radar system having a detection range on the side of the vehicle body is used, the radar system monitors the adjacent lanes when the host vehicle changes lanes and gives a response such as issuing an alarm if necessary. can do.

The application of the radar system 510 described above is not limited to the in-vehicle application. It can be used as a sensor for various purposes. For example, it can be used as a radar for monitoring the surroundings of houses and other buildings. Alternatively, it can be used as a sensor for monitoring the presence/absence of a person at a specific place indoors, the presence/absence of movement of the person, etc. without depending on the optical image.

[Supplementary information]
Another embodiment of the dual-frequency CW or FMCW relating to the array antenna described above will be described. As described above, in the example of FIG. 35, the reception intensity calculation unit 532 performs a Fourier transform on the beat signal (lower diagram of FIG. 36) for each of the channels Ch _{1 to} Ch _M stored in the memory 531. The beat signal at that time is a complex signal. The reason is to specify the phase of the signal to be calculated. Thereby, the direction of the incoming wave can be accurately specified. However, in this case, the amount of calculation load for Fourier transform increases, and the circuit scale increases.

In order to overcome this, a scalar signal is generated as a beat signal, and for each of the generated beat signals, twice for the spatial axis direction along the antenna array and the time axis direction along the passage of time. The frequency analysis result may be obtained by executing the complex Fourier transform of. As a result, finally, it is possible to form a beam capable of specifying the arrival direction of the reflected wave with a small amount of calculation, and it is possible to obtain a frequency analysis result for each beam. The entire disclosure of US Pat. No. 6,339,395 is incorporated herein by reference as a patent publication related to this case.

[Optical sensors such as cameras and millimeter-wave radar]
Next, a comparison between the above-described array antenna and a conventional antenna, and an application example using both the present array antenna and an optical sensor such as a camera will be described. A lidar (LIDAR) or the like may be used as the optical sensor.

The millimeter wave radar can directly detect the distance to the target and its relative speed. In addition, there is a feature that the detection performance does not largely decrease even at night including twilight or during bad weather such as rain, fog, and snowfall. On the other hand, it is said that the millimeter wave radar is not so easy to two-dimensionally capture the target as compared with the camera. On the other hand, the camera is relatively easy to recognize the target two-dimensionally and recognize its shape. However, the camera may not be able to capture an image of the target at night or in bad weather, which is a major problem. This problem is particularly noticeable when water drops adhere to the daylighting part or when the field of view is narrowed due to fog. This problem also exists in the same optical system sensor, such as LIDAR.

2. Description of the Related Art In recent years, a driver assistance system (Driver Assist System) that avoids a collision or the like has been developed in response to an increasing demand for safe operation of vehicles. The driver assistance system acquires the image of the vehicle traveling direction with a camera or a sensor such as a millimeter-wave radar, and automatically operates the brakes etc. when it recognizes an obstacle that is expected to become an obstacle to vehicle operation. Then, avoid a collision etc. Such a collision prevention function is required to function normally even at night or in bad weather.

Therefore, as a sensor, in addition to a conventional optical sensor such as a camera, a millimeter wave radar is mounted, and a driver assistance system of a so-called fusion configuration, which performs recognition processing making the most of both advantages, is becoming widespread. Such a driver assistance system will be described later.

On the other hand, the required functions required for the millimeter wave radar itself are further increasing. In millimeter wave radars for vehicle use, electromagnetic waves in the 76 GHz band are mainly used. The antenna power of the antenna is limited to a certain value or less by the law of each country. For example, in Japan, it is limited to 0.01 W or less. Under such restrictions, the millimeter wave radar for vehicle use has a detection distance of 200 m or more, an antenna size of 60 mm×60 mm or less, a horizontal detection angle of 90° or more, and a distance resolution of 20 cm or less. It is required to satisfy the required performance such as being capable of detecting at a short distance within 10 m. A conventional millimeter wave radar uses a microstrip line as a waveguide and a patch antenna as an antenna (hereinafter, these are collectively referred to as "patch antenna"). However, it was difficult to achieve the above performance with the patch antenna.

The inventor succeeded in realizing the above performance by using a slot array antenna to which the technique of the present disclosure is applied. As a result, we realized a millimeter-wave radar that is smaller, more efficient, and more efficient than conventional patch antennas. In addition, by combining this millimeter-wave radar with an optical sensor such as a camera, we have realized a compact, highly efficient, and high-performance fusion device that has never existed before. Hereinafter, this will be described in detail.

FIG. 42 is a diagram regarding a fusion device in a vehicle 500 including a radar system 510 (hereinafter, also referred to as a millimeter wave radar 510) having a slot array antenna to which the technology of the present disclosure is applied, and an in-vehicle camera system 700. Various embodiments will be described below with reference to this drawing.

[Installation of millimeter-wave radar inside the vehicle]
A conventional patch antenna-based millimeter-wave radar 510' is disposed behind the grill 512 on the front nose of the vehicle. The electromagnetic waves emitted from the antenna pass through the gap of the grill 512 and are emitted to the front of the vehicle 500. In this case, there is no dielectric layer such as glass that attenuates or reflects electromagnetic wave energy in the electromagnetic wave passage region. As a result, the electromagnetic waves radiated from the millimeter wave radar 510' by the patch antenna reach a target at a long distance, for example, 150 m or more. The millimeter wave radar 510′ can detect the target by receiving the electromagnetic wave reflected by the antenna with the antenna. However, in this case, the antenna may be arranged on the rear inside of the grill 512 of the vehicle, so that the radar may be damaged when the vehicle collides with an obstacle. In addition, dirt or the like may be attached to the antenna in the case of rain or the like, which may impair the radiation or reception of electromagnetic waves.

In the millimeter wave radar 510 using the slot array antenna according to the embodiment of the present disclosure, the millimeter wave radar 510 can be arranged behind the grill 512 on the front nose of the vehicle (not shown) as in the conventional case. As a result, 100% of the energy of the electromagnetic waves radiated from the antenna can be utilized, and it becomes possible to detect a target at a long distance beyond the conventional one, for example, at a distance of 250 m or more.

Further, the millimeter wave radar 510 according to the embodiment of the present disclosure may be arranged in the vehicle passenger compartment. In that case, the millimeter wave radar 510 is arranged inside the windshield 511 of the vehicle and in the space between the mirror view surface (not shown) and the surface opposite to the mirror surface. On the other hand, the conventional millimeter wave radar 510' using a patch antenna cannot be placed inside the vehicle. There are two main reasons for this. The first reason is that it is too large to fit in the space between the windshield 511 and the rear view mirror. The second reason is that the electromagnetic wave radiated forward is reflected by the windshield 511 and attenuated due to dielectric loss, so that the required distance cannot be reached. As a result, when the conventional millimeter wave radar using the patch antenna is placed in the vehicle compartment, for example, only a target existing 100 m ahead can be detected. On the other hand, the millimeter wave radar according to the embodiment of the present disclosure can detect a target at a distance of 200 m or more even if there is reflection or attenuation on the windshield 511. This is equivalent to or better than the performance of a conventional millimeter wave radar with a patch antenna placed outside the passenger compartment.

[Fusion configuration by arranging millimeter-wave radar and camera inside the vehicle]
At present, an optical image pickup device such as a CCD camera is used as a main sensor used in many driver assistance systems (Driver Assist System). The camera or the like is usually arranged inside the vehicle interior of the windshield 511 in consideration of adverse effects of the external environment and the like. At this time, in order to minimize the optical influence of raindrops or the like, the camera or the like is arranged inside the windshield 511 and in a region where a wiper (not shown) operates.

2. Description of the Related Art In recent years, there is a demand for an automatic brake that reliably operates in any external environment due to a demand for improved performance of automatic brakes of vehicles. In this case, if the sensor of the driver assistance system is composed of only an optical device such as a camera, there is a problem that a reliable operation cannot be guaranteed at night or in bad weather. Therefore, in addition to an optical sensor such as a camera, a millimeter-wave radar is also used in combination, and there is a demand for a driver assistance system that operates reliably even at night or in bad weather.

As mentioned above, the millimeter-wave radar that uses this slot array antenna should be placed inside the vehicle because it has been made smaller and the efficiency of radiated electromagnetic waves is significantly higher than that of conventional patch antennas. Became possible. By utilizing this characteristic, as shown in FIG. 42, not only an optical sensor such as a camera (vehicle-mounted camera system 700) but also a millimeter wave radar 510 using this slot array antenna is installed inside the windshield 511 of the vehicle 500. It has become possible to place them. This produced the following new effects.

(1) The driver assist system (Driver Assist System) can be easily attached to the vehicle 500. In the conventional millimeter wave radar 510' using the patch antenna, it is necessary to secure a space for arranging the radar behind the grill 512 on the front nose. Since this space includes a part that influences the structural design of the vehicle, it may be necessary to newly redo the structural design when the size of the radar device changes. However, by arranging the millimeter wave radar inside the vehicle, such inconvenience was solved.

(2) It has become possible to ensure more reliable operation without being affected by the external environment of the vehicle, such as rain or night. In particular, as shown in FIG. 43, by placing the millimeter wave radar (vehicle-mounted radar system) 510 and the vehicle-mounted camera system 700 at substantially the same position in the vehicle interior, the respective fields of view and lines of sight match, and a “verification process”, which will be described later, The process of recognizing that the target information captured by each is the same is easy. On the other hand, when the millimeter wave radar 510′ is placed behind the grill 512 on the front nose outside the vehicle compartment, the radar line of sight L is different from the radar line of sight M when placed inside the vehicle compartment, so The deviation from the acquired image increases.

(3) The reliability of the millimeter wave radar device is improved. As described above, since the conventional millimeter wave radar 510' using the patch antenna is arranged behind the grill 512 on the front nose, it is easy for dirt to adhere and may be damaged even in a small contact accident. .. For these reasons, cleaning and function check were always required. Further, as will be described later, when the mounting position or the direction of the millimeter wave radar is deviated due to an accident or the like, it is necessary to realign with the camera. However, by arranging the millimeter wave radar in the vehicle interior, these probabilities are reduced, and such inconvenience is eliminated.

In the driver assistance system having such a fusion configuration, the optical sensor such as a camera and the millimeter wave radar 510 using the present slot array antenna may have an integral configuration fixed to each other. In that case, it is necessary to secure a fixed positional relationship between the optical axis of the optical sensor such as a camera and the direction of the antenna of the millimeter wave radar. This will be described later. Further, when the driver assistance system having the integrated structure is fixed in the vehicle interior of the vehicle 500, it is necessary to adjust the optical axis of the camera and the like so as to be directed in a desired direction in front of the vehicle. Regarding this, there are US Patent Application Publication No. 2015/0264230, US Patent Application Publication No. 2016/0264065, US Patent Application 15/248141, US Patent Application 15/248149, and US Patent Application 15/248156. And use these. Further, as a technique centering on a camera related to this, there are US Pat. No. 7,355,524 and US Pat. No. 7,420,159, the entire disclosures of which are incorporated herein.

Further, regarding arranging an optical sensor such as a camera and a millimeter wave radar in the vehicle compartment, there are US Pat. No. 8604968, US Pat. No. 8614640, US Pat. .. The entire contents of these disclosures are incorporated herein by reference. However, at the time of filing of these patents, only conventional antennas including patch antennas were known as millimeter wave radars, and therefore, it was impossible to observe a sufficient distance. For example, the distance that can be observed by a conventional millimeter wave radar is considered to be 100 m to 150 m at most. Further, when the millimeter wave radar is arranged inside the windshield, the size of the radar is large, so that the driver's field of view is obstructed, causing a problem such as hindering safe driving. On the other hand, the millimeter wave radar using the slot array antenna according to the embodiment of the present disclosure is small in size and the efficiency of the radiated electromagnetic wave is significantly increased as compared with the conventional patch antenna. It has become possible to place it indoors. As a result, it is possible to observe at a long distance of 200 m or more, and the driver's visual field is not obstructed.

[Adjustment of mounting position of millimeter wave radar and camera, etc.]
In the processing of the fusion configuration (hereinafter sometimes referred to as "fusion processing"), it is required that the image obtained by the camera and the radar information obtained by the millimeter wave radar are associated with the same coordinate system. .. This is because, if the positions and the sizes of the targets are different from each other, the cooperation processing between the two may be hindered.

This needs to be adjusted from the following three points of view.

(1) The optical axis of the camera or the like and the direction of the antenna of the millimeter wave radar have a fixed relationship.

It is required that the optical axis of the camera or the like and the direction of the antenna of the millimeter wave radar match each other. Alternatively, the millimeter wave radar may have two or more transmitting antennas and two or more receiving antennas, and the directions of the respective antennas may be intentionally different. Therefore, it is required to ensure that there is at least a certain known relationship between the optical axis of the camera or the like and the orientation of these antennas.

When the camera and the like and the millimeter wave radar are fixed to each other as described above, the positional relationship between the camera and the millimeter wave radar is fixed. Therefore, in the case of this integral structure, these requirements are satisfied. On the other hand, in the conventional patch antenna or the like, the millimeter wave radar is arranged behind the grill 512 of the vehicle 500. In this case, the positional relationship between them is usually adjusted by the following (2).

(2) The image acquired by the camera or the like and the radar information of the millimeter-wave radar have a fixed relationship in the initial state (for example, at the time of shipping) when mounted on the vehicle.

The mounting position of the optical sensor such as a camera and the millimeter wave radar 510 or 510′ in the vehicle 500 is finally determined by the following means. That is, a reference chart or a target to be observed by a radar at a predetermined position 800 in front of the vehicle 500 (hereinafter, referred to as a “reference chart” and a “reference target”, respectively, collectively referred to as a “reference target”). That's right). This is observed by an optical sensor such as a camera or the millimeter wave radar 510. The observation information of the observed reference object and the shape information of the reference object stored in advance are compared to quantitatively grasp the current deviation information. Based on this deviation information, the mounting position of the optical sensor such as a camera and the millimeter wave radar 510 or 510′ is adjusted or corrected by at least one of the following means. In addition, you may use the means other than this which brings about the same result.
(I) The mounting positions of the camera and the millimeter wave radar are adjusted so that the reference object is located at the center of the camera and the millimeter wave radar. A jig or the like provided separately may be used for this adjustment.
(Ii) The amount of azimuth deviation between the camera and the millimeter-wave radar with respect to the reference object is obtained, and the amount of azimuth deviation is corrected by image processing of the camera image and radar processing.

It should be noted that when the optical sensor such as a camera and the millimeter wave radar 510 using the slot array antenna according to the embodiment of the present disclosure have a fixed and integrated configuration, the If any one of them is adjusted with respect to the reference object, the deviation amount can be known for the other, and it is not necessary to inspect the reference object for the other deviation again.

That is, with respect to the vehicle-mounted camera system 700, the reference chart is placed at a predetermined position 750, and the captured image is compared with information indicating in advance where the reference chart image should be located in the field of view of the camera to determine the shift amount. To detect. Based on this, the camera is adjusted by at least one of the means (i) and (ii). Next, the shift amount obtained by the camera is converted into the shift amount of the millimeter wave radar. After that, the deviation amount of the radar information is adjusted by at least one of the means (i) and (ii).

Alternatively, this may be performed based on the millimeter wave radar 510. That is, with respect to the millimeter wave radar 510, by placing a reference target at a predetermined position 800 and comparing the radar information with information indicating in advance where the reference target should be located in the field of view of the millimeter wave radar 510, The amount of deviation is detected. Based on this, the millimeter wave radar 510 is adjusted by at least one of the means (i) and (ii). Next, the shift amount obtained by the millimeter wave radar is converted into the shift amount of the camera. Then, with respect to the image information obtained by the camera, the shift amount is adjusted by at least one of the means (i) and (ii).

(3) A certain relationship between the image acquired by the camera and the radar information of the millimeter wave radar is maintained even after the initial state of the vehicle.

Usually, the image acquired by a camera or the like and the radar information of the millimeter wave radar are fixed in the initial state, and are unlikely to change thereafter unless a vehicle accident or the like occurs. However, if there is a deviation between them, it can be adjusted by the following means.

The camera is attached such that the characteristic parts 513 and 514 (characteristic points) of the own vehicle enter the field of view. The actual image pickup position of the feature point by the camera is compared with the position information of the feature point when the camera is originally correctly attached, and the shift amount is detected. By correcting the positions of the images captured thereafter based on the detected shift amount, it is possible to correct the shift of the physical mounting position of the camera. When the performance required for the vehicle can be sufficiently exhibited by this correction, the adjustment in (2) above becomes unnecessary. Further, by regularly performing this adjusting means during startup or operation of the vehicle 500, even if a new displacement of the camera or the like occurs, the displacement amount can be corrected, and safe operation can be realized.

However, this means is generally considered to lower the adjustment accuracy as compared with the means described in (2) above. When the reference object is adjusted based on an image obtained by shooting with a camera, the orientation of the reference object can be specified with high accuracy, and thus a high adjustment system can be easily achieved. However, with this means, a part of the image of the vehicle body is used for adjustment instead of the reference object, so it is somewhat difficult to improve the characteristic accuracy of the bearing. Therefore, the adjustment accuracy is also reduced. However, it is effective as a correction means when the mounting position of the camera or the like is greatly changed due to an accident or a large external force applied to the camera or the like in the vehicle interior.

[Correlation of target detected by millimeter wave radar and camera, etc.: collation processing]
In the fusion process, it is necessary for one target to recognize that the image obtained by the camera or the like and the radar information obtained by the millimeter wave radar are “the same target”. For example, consider a case where two obstacles (a first obstacle and a second obstacle), for example, two bicycles, appear in front of the vehicle 500. The two obstacles are picked up as an image of the camera and at the same time detected as radar information of the millimeter wave radar. At that time, regarding the first obstacle, the camera image and the radar information need to be associated with each other as the same target. Similarly, regarding the second obstacle, the camera image and the radar information thereof need to be associated with each other as the same target. If, by mistake, the camera image that is the first obstacle and the radar information of the millimeter wave radar that is the second obstacle are mistakenly recognized as the same target, a large accident may occur. .. Hereinafter, in this specification, the process of determining whether or not the target on the camera image and the target on the radar image are the same as each other may be referred to as a “collation process”.

There are various detection devices (or methods) described below for this matching process. These will be specifically described below. The following detection device is installed in a vehicle, and at least a millimeter wave radar detection unit, an image detection unit such as a camera arranged in a direction overlapping with the direction detected by the millimeter wave radar detection unit, and a collation unit. With. Here, the millimeter wave radar detection unit has the slot array antenna according to any of the embodiments of the present disclosure, and acquires at least radar information in the field of view thereof. The image acquisition unit acquires at least image information in the field of view. The collation unit includes a processing circuit that collates the detection result by the millimeter wave radar detection unit and the detection result by the image detection unit and determines whether or not the same target is detected by these two detection units. Here, the image detection unit may be configured by selecting one or two or more of an optical camera, a LIDAR, an infrared radar, and an ultrasonic radar. The following detection devices differ in the detection processing in the collation unit.

The collating unit in the first detection device performs the following two collations. The first matching is to obtain the distance information and the lateral position information of the target object detected by the millimeter wave radar detection unit, and at the same time, perform one or more of the detections by the image detection unit. Among the targets, the target in the position closest to the target of interest is collated and the combination thereof is detected. The second collation is performed on the target object of interest detected by the image detection unit in parallel with obtaining the distance information and the lateral position information of the target object, and at least one of the two or more objects detected by the millimeter wave radar detection unit. Among the targets, the target in the position closest to the target of interest is collated and the combination thereof is detected. Further, this matching unit determines whether or not there is a matching combination in the combination for each of these targets detected by the millimeter wave radar detection unit and the combination for each of these targets detected by the image detection unit. To do. If there is a matching combination, it is determined that the two detection units detect the same object. Thereby, the targets detected by the millimeter wave radar detection unit and the image detection unit are collated.

Techniques related to this are described in US Pat. No. 7,358,889. The entire disclosure of which is incorporated herein by reference. In this publication, the image detection unit is described by exemplifying a so-called stereo camera having two cameras. However, this technique is not limited to this. Even when the image detection unit has one camera, the distance information and the lateral position information of the target object may be obtained by appropriately performing the image recognition processing or the like on the detected target object. Similarly, a laser sensor such as a laser scanner may be used as the image detection unit.

The collation unit in the second detection device collates the detection result by the millimeter wave radar detection unit and the detection result by the image detection unit at predetermined time intervals. If the matching unit determines that the two detection units detect the same target in the previous matching result, the matching unit performs matching using the previous matching result. Specifically, the matching unit is detected by the target object detected this time by the millimeter-wave radar detection unit and the target object detected this time by the image detection unit, and by the two detection units determined in the previous matching result. Match the target. Then, the matching unit is based on the matching result with the target detected this time by the millimeter-wave radar detecting unit and the matching result with the target detected this time by the image detecting unit, and the two detecting units are identical. Judge whether the target is detected or not. In this way, the detection device does not directly collate the detection results of the two detection units, but uses the previous collation result to collate the two detection results in time series. Therefore, the detection accuracy is improved as compared with the case where only instantaneous matching is performed, and stable matching can be performed. In particular, even when the accuracy of the detection unit is momentarily lowered, the comparison result in the past is used, so that the comparison can be performed. Further, in this detection device, the comparison between the two detection units can be easily performed by using the previous comparison result.

Further, if the matching unit of this detection device determines that the same object is detected by the two detection units in this matching using the result of the previous matching, it excludes the determined object, The object detected this time by the wave radar detection unit and the object detected this time by the image detection unit are collated. Then, this collation unit determines whether or not there is the same object detected this time by the two detection units. As described above, the detection device performs the instantaneous collation based on the two detection results obtained at each moment after considering the collation result in the time series. Therefore, the detection device can reliably collate the object detected by the current detection.

Techniques related to these are described in US Pat. No. 7,417,580. The entire disclosure of which is incorporated herein by reference. In this publication, the image detection unit is described by exemplifying a so-called stereo camera having two cameras. However, this technique is not limited to this. Even when the image detection unit has one camera, the distance information and the lateral position information of the target object may be obtained by appropriately performing the image recognition processing or the like on the detected target object. Similarly, a laser sensor such as a laser scanner may be used as the image detection unit.

The two detection units and the collation unit in the third detection device detect the targets and collate them at predetermined time intervals, and store the detection results and the collation results in time series in a storage medium such as a memory. To be done. Then, the matching unit, the change rate of the size on the image of the target detected by the image detection unit, the distance from the own vehicle to the target detected by the millimeter wave radar detection unit and its change rate (with the own vehicle It is determined whether the target detected by the image detection unit and the target detected by the millimeter wave radar detection unit are the same object based on the relative velocity).

When the matching unit determines that these targets are the same object, the position on the image of the target detected by the image detection unit and the target from the own vehicle detected by the millimeter wave radar detection unit are detected. Predict the likelihood of a collision with the vehicle based on the distance to and/or its rate of change.

Techniques related to these are described in US Pat. No. 6,903,677. The entire disclosure of which is incorporated herein by reference.

As described above, in the fusion process between the millimeter wave radar and the image capturing device such as the camera, the image obtained by the camera and the radar information obtained by the millimeter wave radar are collated. The millimeter wave radar using the array antenna according to the embodiment of the present disclosure described above can be configured to have high performance and a small size. Therefore, it is possible to achieve high performance and downsizing of the entire fusion process including the above-mentioned matching process. As a result, the accuracy of target recognition is improved, and safer vehicle operation control becomes possible.

[Other fusion processing]
In the fusion process, various functions are realized based on the collation process of the image obtained by the camera and the radar information obtained by the millimeter wave radar detection unit. An example of a processing device that realizes its typical function will be described below.

The following processing device is installed in a vehicle, and at least a millimeter wave radar detection unit that transmits and receives electromagnetic waves in a predetermined direction, and an image acquisition unit such as a monocular camera having a field of view overlapping with the field of view of this millimeter wave radar detection unit, A processing unit that obtains information from these and detects a target and the like. The millimeter wave radar detection unit acquires radar information in the field of view. The image acquisition unit acquires image information in the field of view. For the image acquisition unit, any one of an optical camera, a LIDAR, an infrared radar, an ultrasonic radar, or two or more can be selected and used. The processing unit can be realized by a processing circuit connected to the millimeter wave radar detection unit and the image acquisition unit. The following processing devices have different processing contents in this processing unit.

The processing unit of the first processing device extracts a target recognized to be the same as the target detected by the millimeter wave radar detection unit from the image captured by the image acquisition unit. That is, the matching process by the above-described detection device is performed. Then, information on the right edge and the left edge of the extracted target image is acquired, and a trajectory approximation line that is a straight line or a predetermined curve that approximates the trajectory of the acquired right edge and the left edge is derived for both edges. .. The one with the larger number of edges existing on the trajectory approximation line is selected as the true edge of the target. Then, the lateral position of the target is derived based on the position of the edge selected as the true edge. Thereby, it is possible to further improve the detection accuracy of the lateral position of the target.

Techniques related to these are described in US Pat. No. 8,610,620. The entire disclosure of this document is incorporated herein by reference.

When determining the presence or absence of the target, the processing unit of the second processing device changes the determination reference value used for determining the presence or absence of the target in the radar information based on the image information. With this, for example, when a target image that is an obstacle for vehicle operation can be confirmed with a camera or the like, or when the presence of the target is estimated, a criterion for the target detection by the millimeter wave radar detection unit is set. By changing it optimally, more accurate target information can be obtained. That is, when there is a high possibility that an obstacle exists, it is possible to operate the processing device with certainty by changing the judgment standard. On the other hand, it is possible to prevent unnecessary operation of this processing device when the possibility of obstacles is low. This allows proper system operation.

Further, in this case, the processing unit may set the detection area of the image information based on the radar information and estimate the existence of the obstacle based on the image information in this area. This makes it possible to improve the efficiency of the detection process.

Techniques related to these are described in US Pat. No. 7,570,198. The entire disclosure of this document is incorporated herein by reference.

The processing unit of the third processing device performs composite display in which at least one display device displays image signals based on the images and radar information obtained by the plurality of different image capturing devices and the millimeter wave radar detection unit. In this display processing, the horizontal and vertical synchronization signals are mutually synchronized by the plurality of image pickup devices and the millimeter wave radar detection unit, and the image signals from these devices are set within one horizontal scanning period or one vertical scanning period. Thus, it is possible to selectively switch to a desired image signal. With this, it is possible to display the images of the plurality of selected image signals side by side on the basis of the horizontal and vertical synchronization signals, and a control signal for setting the control operation in the desired image pickup device and the millimeter wave radar detection unit from the display device. Is sent.

When the images or the like are displayed on a plurality of different display devices, it becomes difficult to compare the images. Further, when the display device is arranged separately from the third processing device main body, the operability for the device is not good. The third processor overcomes such drawbacks.

Techniques related to these are described in US Pat. No. 6,628,299 and US Pat. No. 7,161,561. The entire contents of these disclosures are incorporated herein by reference.

The processing unit of the fourth processing device instructs the image acquisition unit and the millimeter wave radar detection unit regarding the target object in front of the vehicle, and acquires the image and radar information including the target object. The processing unit determines the area in which the target is included in the image information. The processing unit further extracts radar information in this area, and detects the distance from the vehicle to the target and the relative speed between the vehicle and the target. The processing unit determines the possibility of the target colliding with the vehicle based on these pieces of information. With this, the possibility of collision with the target is quickly determined.

Techniques related to these are described in US Pat. No. 8,068,134. The entire contents of these disclosures are incorporated herein by reference.

The processing unit of the fifth processing device recognizes one or more targets in front of the vehicle by radar information or by fusion processing based on radar information and image information. This target includes moving vehicles such as other vehicles or pedestrians, running lanes indicated by white lines on the road, shoulders and stationary objects (including gutters and obstacles) there, traffic lights, pedestrian crossings, etc. Is included. The processing unit may include a GPS (Global Positioning System) antenna. The position of the vehicle may be detected by the GPS antenna, and a storage device (referred to as a map information database device) storing road map information may be searched based on the position to confirm the current position on the map. The traveling environment can be recognized by comparing the present position on the map with one or more targets recognized by the radar information or the like. Based on this, the processing unit may extract a target that is estimated to be an obstacle to vehicle travel, find safer operation information, display it on a display device as necessary, and notify the driver.

Techniques related to these are described in US Pat. No. 6,191,704. The entire disclosure of which is incorporated herein by reference.

The fifth processing device may further include a data communication device (having a communication circuit) that communicates with a map information database device outside the vehicle. The data communication device accesses the map information database device and downloads the latest map information, for example, once a week or once a month. As a result, the above processing can be performed using the latest map information.

The fifth processing device further compares the latest map information acquired during the operation of the vehicle with the recognition information regarding one or more targets recognized by the radar information and the like, and compares the information that is not included in the map information. Mark information (hereinafter referred to as "map update information") may be extracted. Then, this map update information may be transmitted to the map information database device via the data communication device. The map information database device may store this map update information in association with the map information in the database and update the current map information itself if necessary. At the time of updating, the certainty of updating may be verified by comparing map updating information obtained from a plurality of vehicles.

Note that this map update information can include more detailed information than the map information that the current map information database device has. For example, general map information can grasp the outline of a road, but does not include information such as the width of a road shoulder portion or the width of a gutter in the road portion, newly generated unevenness or the shape of a building. It also does not include information such as the height of the roadway and sidewalk, or the status of the slopes that connect to the sidewalk. The map information database device can store such detailed information (hereinafter referred to as “map update detailed information”) in association with the map information based on separately set conditions. By providing the vehicle including the own vehicle with more detailed information than the original map information, the detailed map update information can be used for other purposes in addition to the purpose of safe driving of the vehicle. Here, the "vehicle including the own vehicle" may be, for example, an automobile, a two-wheeled vehicle, a bicycle, or an autonomous vehicle that will newly appear in the future, such as an electric wheelchair. The map update detailed information is used when these vehicles operate.

(Recognition by neural network)
The first to fifth processing devices may further include an altitude recognition device. The altitude recognition device may be installed outside the vehicle. In that case, the vehicle may be equipped with a high speed data communication device in communication with the altitude recognition device. The advanced recognition device may be configured by a neural network including so-called deep learning. This neural network may include, for example, a convolutional neural network (Convolutional Neural Network, hereinafter referred to as “CNN”). CNN is a neural network that has been successful in image recognition, and one of its features is that it has one or more sets of two layers called a convolutional layer (Convolutional Layer) and a pooling layer (Pooling Layer). is there.

The information input to the convolutional layer in the processing device may be at least one of the following three types.
(1) Information obtained based on the radar information acquired by the millimeter wave radar detection unit (2) Information obtained based on the specific image information acquired by the image acquisition unit based on the radar information (3) Radar information and , The fusion information obtained based on the image information acquired by the image acquisition unit, or the information obtained based on the fusion information, any one of these information, or based on the combination of these information, the convolutional layer The corresponding multiply-accumulate operation is performed. The result is input to the pooling layer at the next stage, and data is selected based on a preset rule. As the rule, for example, in the maximum pooling (max pooling) that selects the maximum value of the pixel value, the maximum value among the divided regions of the convolutional layer is selected, and this is set as the value of the corresponding position in the pooling layer. It

The high-level recognition device configured by CNN may have a configuration in which one convolutional layer and a plurality of pooling layers are connected in series, or a plurality of such convolutional layers and pooling layers are connected in series. Thereby, the target around the vehicle included in the radar information and the image information can be accurately recognized.

Techniques related thereto are described in US Pat. No. 8,861,842, US Pat. No. 9,286,524, and US Patent Application Publication No. 2016/0140424. The entire contents of these disclosures are incorporated herein by reference.

The processing unit of the sixth processing device performs processing related to vehicle headlamp control. When driving a vehicle at night, the driver checks whether another vehicle or a pedestrian is present in front of the vehicle, and operates the beam of the headlamp of the vehicle. This is to prevent a driver or a pedestrian of another vehicle from being dazzled by the headlights of the own vehicle. The sixth processing device automatically controls the headlamp of the own vehicle by using the radar information or a combination of the radar information and an image obtained by a camera or the like.

The processing unit detects a target corresponding to a vehicle in front of the vehicle or a pedestrian by using the radar information or the fusion processing based on the radar information and the image information. In this case, the vehicle in front of the vehicle includes the preceding vehicle in front, the vehicle in the opposite lane, the two-wheeled vehicle, and the like. When the processing unit detects these targets, it issues a command to lower the beam of the headlamp. The control unit (control circuit) inside the vehicle that receives this command operates the headlamp to lower the beam.

Technologies related thereto are described in US Pat. No. 6,403,942, US Pat. No. 6,611,610, US Pat. No. 8,543,277, US Pat. No. 8593521, and US Pat. ing. The entire contents of these disclosures are incorporated herein by reference.

In the processing by the millimeter-wave radar detection unit described above, and in the fusion processing between the millimeter-wave radar detection unit and the image capturing device such as a camera, since the millimeter-wave radar can be configured with high performance and small size, the radar processing, Alternatively, higher performance and smaller size of the entire fusion process can be achieved. As a result, the accuracy of target recognition is improved, and safer vehicle operation control becomes possible.

<Application example 2: Various monitoring systems (natural objects, buildings, roads, watching, security)>
The millimeter wave radar (radar system) including the array antenna according to the embodiment of the present disclosure can be widely used in the field of monitoring in natural objects, weather, buildings, security, nursing care, and the like. In a monitoring system related to this, a monitoring device including a millimeter wave radar is installed at a fixed position, for example, and constantly monitors a monitoring target. At that time, the millimeter wave radar adjusts and sets the detection resolution of the monitoring target to an optimum value.

The millimeter wave radar including the array antenna according to the embodiment of the present disclosure can detect a high frequency electromagnetic wave exceeding 100 GHz, for example. Regarding the modulation band used in radar recognition, such as the FMCW system, the millimeter-wave radar currently realizes a wide band exceeding 4 GHz. That is, it corresponds to the above-mentioned ultra wide band (UWB). This modulation band is related to range resolution. That is, since the modulation band of the conventional patch antenna is up to about 600 MHz, its distance resolution is 25 cm. On the other hand, the millimeter wave radar related to this array antenna has a distance resolution of 3.75 cm. This indicates that the performance comparable to the distance resolution of the conventional LIDAR can be realized. On the other hand, an optical sensor such as LIDAR cannot detect a target at night or in bad weather as described above. On the other hand, the millimeter-wave radar can always detect regardless of day or night or the weather. As a result, it has become possible to use the millimeter-wave radar related to this array antenna for various applications that cannot be applied to the conventional millimeter-wave radar using the patch antenna.

FIG. 44 is a diagram showing a configuration example of a monitoring system 1500 using a millimeter wave radar. A millimeter wave radar monitoring system 1500 includes at least a sensor unit 1010 and a main body unit 1100. The sensor unit 1010 includes at least an antenna 1011 which is aimed at a monitoring target 1015, a millimeter wave radar detection unit 1012 which detects a target based on an electromagnetic wave transmitted and received, and a communication unit which transmits detected radar information ( Communication circuit) 1013. The main body unit 1100 includes at least a communication unit (communication circuit) 1103 that receives radar information, a processing unit (processing circuit) 1101 that performs predetermined processing based on the received radar information, past radar information, and predetermined processing. A data storage unit (recording medium) 1102 that stores other information necessary for the above. A communication line 1300 is provided between the sensor unit 1010 and the main body unit 1100, and information and commands are transmitted and received between them via the communication line 1300. Here, the communication line may include, for example, a general-purpose communication network such as the Internet, a mobile communication network, a dedicated communication line, or the like. The monitoring system 1500 may have a configuration in which the sensor unit 1010 and the main body unit 1100 are directly connected to each other without a communication line. In addition to the millimeter wave radar, an optical sensor such as a camera can be installed in the sensor unit 1010. Thereby, by performing the target recognition by the fusion process of the radar information and the image information by the camera or the like, it is possible to detect the monitoring target 1015 or the like at a higher level.

An example of a monitoring system that realizes these application examples will be specifically described below.

[Natural object monitoring system]
The first monitoring system is a system for monitoring natural objects (hereinafter referred to as "natural object monitoring system"). This natural object monitoring system will be described with reference to FIG. The monitoring target 1015 in the natural object monitoring system 1500 can be, for example, a river, sea surface, mountain, volcano, ground surface, or the like. For example, when a river is the monitoring target 1015, the sensor unit 1010 fixed at a fixed position constantly monitors the water surface of the river 1015. The water surface information is constantly transmitted to the processing unit 1101 in the main body 1100. When the water surface reaches a certain height or more, the processing unit 1101 notifies the other system 1200 such as a weather observation monitoring system, which is provided separately from this monitoring system, via the communication line 1300. Inform. Alternatively, the processing unit 1101 sends instruction information for automatically closing a floodgate or the like (not shown) provided in the river 1015 to a system (not shown) that manages the floodgate.

The natural object monitoring system 1500 can monitor a plurality of sensor units 1010, 1020, etc. with one main body unit 1100. When the plurality of sensor units are distributed and arranged in a certain area, the water level status of the river in the area can be grasped at the same time. This also makes it possible to evaluate how rainfall in this area affects the water level of rivers and may lead to disasters such as floods. Information related to this can be notified to another system 1200 such as a weather observation and monitoring system via the communication line 1300. As a result, the other system 1200 such as the meteorological observation monitoring system can utilize the notified information for more wide-area meteorological observation or disaster prediction.

The natural object monitoring system 1500 can be similarly applied to other natural objects other than rivers. For example, in a monitoring system that monitors a tsunami or storm surge, the monitoring target is the sea level. It is also possible to automatically open and close the sluices of the seawall in response to rising sea level. Alternatively, in a monitoring system that monitors a landslide due to rainfall or an earthquake, the monitoring target is the surface of the mountain or the like.

[Traffic monitoring system]
The second monitoring system is a system for monitoring traffic routes (hereinafter referred to as "traffic route monitoring system"). The monitoring target in this traffic route monitoring system may be, for example, a railroad crossing, a specific track, an airport runway, a road intersection, a specific road, a parking lot, or the like.

For example, when the monitoring target is a railroad crossing, the sensor unit 1010 is arranged at a position where the inside of the railroad crossing can be monitored. In this case, the sensor unit 1010 may include an optical sensor such as a camera in addition to the millimeter wave radar. In this case, the fusion process of the radar information and the image information makes it possible to detect the target in the monitoring target in a more diversified manner. The target information obtained by the sensor unit 1010 is sent to the main body unit 1100 via the communication line 1300. The main body unit 1100 performs higher-level recognition processing, collection of other information necessary for control (for example, train operation information, etc.), and necessary control instructions based on these. Here, the necessary control instruction means, for example, an instruction to stop the train when a person, a vehicle, or the like is confirmed inside the railroad crossing when the railroad crossing is closed.

In addition, for example, when the monitored object is an airport runway, a plurality of sensor units 1010, 1020, , Located along the runway. The monitoring system 1500 constantly monitors the runway day and night regardless of the weather. This function is a function that can be realized only by using the millimeter wave radar according to the embodiment of the present disclosure that is compatible with UWB. Further, since the present millimeter wave radar device can be realized with a small size, high resolution, and low cost, it can be practically applied even when covering the entire runway. In this case, the main body unit 1100 integrally manages the plurality of sensor units 1010, 1020 and the like. When confirming a foreign object on the runway, the main body unit 1100 transmits information about the position and size of the foreign object to the airport control system (not shown). In response to this, the airport control system temporarily prohibits takeoff and landing on the runway. In the meantime, the main body unit 1100 transmits information regarding the position and size of the foreign matter to, for example, a vehicle or the like that automatically cleans the runway provided separately. The cleaning vehicle having received this moves to the position where there is a foreign substance by itself and automatically removes the foreign substance. When the cleaning vehicle completes the removal of the foreign matter, the cleaning vehicle transmits information to that effect to the main body 1100. Then, the main body unit 1100 confirms again that the sensor unit 1010 or the like that has detected the foreign matter is “no foreign matter” and confirms that it is safe, and then notifies the airport control system of that fact. In response to this, the airport control system lifts the takeoff and landing prohibition of the corresponding runway.

Further, for example, when the monitoring target is a parking lot, it is possible to automatically recognize which position in the parking lot is empty. A technique related to this is described in US Pat. No. 6,943,726. The entire disclosure of which is incorporated herein by reference.

[Security monitoring system]
The third monitoring system is a system (hereinafter, referred to as "security monitoring system") for monitoring an illegal intruder on the private premises or the house. The target to be monitored by this security monitoring system is, for example, a specific area such as a private property site or a house.

For example, when the monitoring target is a privately owned site, the sensor unit 1010 is arranged at one or two or more positions where it can be monitored. In this case, as the sensor unit 1010, an optical sensor such as a camera may be provided in addition to the millimeter wave radar. In this case, the fusion process of the radar information and the image information makes it possible to detect the target in the monitoring target in a more diversified manner. The target information obtained by the sensor unit 1010 is sent to the main body unit 1100 via the communication line 1300. In the main body 1100, other information necessary for higher-level recognition processing and control (for example, reference data necessary for accurately recognizing whether the invading target is a person or an animal such as a dog or a bird) ) Is collected, and necessary control instructions based on these are given. Here, the necessary control instruction is, for example, an instruction such as sounding an alarm installed in the site or turning on the lighting, as well as an instruction to directly notify the site manager through a mobile communication line or the like. including. The processing unit 1101 in the main body unit 1100 may cause the built-in high-level recognition device that employs a technique such as deep learning to recognize the detected target. Alternatively, the altitude recognition device may be arranged outside. In that case, the altitude recognition device may be connected by the communication line 1300.

A technique related to this is described in US Pat. No. 7,425,983. The entire disclosure of which is incorporated herein by reference.

As another embodiment of such a security monitoring system, it can be applied to a person monitoring system installed at a boarding gate of an airport, a ticket gate of a station, an entrance of a building, or the like. Objects to be monitored by this person monitoring system are, for example, boarding gates at airports, ticket gates at stations, entrances to buildings, and the like.

For example, when the monitoring target is the boarding gate of the airport, the sensor unit 1010 may be installed in, for example, the property inspection device for the boarding gate. In this case, the inspection method includes the following two methods. One is a method in which a millimeter-wave radar inspects a passenger's belongings by receiving an electromagnetic wave transmitted by the millimeter-wave radar and reflected back by a passenger who is a monitoring target. The other is a method of inspecting foreign objects hidden by the passenger by receiving weak millimeter waves emitted from the passenger's own body with an antenna. In the latter method, it is desirable that the millimeter wave radar has a function of scanning the received millimeter wave. This scanning function may be realized by using digital beam forming or may be realized by a mechanical scanning operation. As the processing of the main body 1100, the same communication processing and recognition processing as in the above-described example can be used.

[Building inspection system (non-destructive inspection)]
The fourth monitoring system is a system (hereinafter referred to as "building inspection system") for monitoring or inspecting the inside of concrete such as a viaduct of a road or a railroad or a building, or the inside of a road or the ground. The monitoring target in this building inspection system is, for example, an interior of concrete such as a viaduct or a building, or an inside of a road or the ground.

For example, when the monitoring target is the inside of a concrete building, the sensor unit 1010 has a structure capable of scanning the antenna 1011 along the surface of the concrete building. Here, the “scan” may be realized manually, or may be realized by separately installing a fixed rail for scanning and moving on the rail by using a driving force of a motor or the like. When the monitoring target is a road or the ground, the "scanning" may be realized by installing the antenna 1011 downward on a vehicle or the like and driving the vehicle at a constant speed. The electromagnetic wave used in the sensor unit 1010 may be, for example, a millimeter wave in the so-called terahertz region that exceeds 100 GHz. As described above, according to the array antenna according to the embodiment of the present disclosure, an antenna having less loss can be configured even for an electromagnetic wave exceeding 100 GHz as compared with a conventional patch antenna or the like. Higher-frequency electromagnetic waves can penetrate deeper into an inspection object such as concrete, and a more accurate nondestructive inspection can be realized. Regarding the processing of the main body unit 1100, the same communication processing and recognition processing as those of the other monitoring systems described above can be used.

A technique related to this is described in US Pat. No. 6,661,367. The entire disclosure of which is incorporated herein by reference.

[Person monitoring system]
The fifth monitoring system is a system that monitors the care recipient (hereinafter referred to as "person watching system"). The monitoring target in this person watching system is, for example, a caregiver or a patient in a hospital.

For example, when the monitoring target is a caregiver in the room of the care facility, the sensor unit 1010 is arranged in this room at one or two or more positions where the entire room can be monitored. In this case, the sensor unit 1010 may be provided with an optical sensor such as a camera in addition to the millimeter wave radar. In this case, it is possible to more multilaterally monitor the monitoring target by the fusion process of the radar information and the image information. On the other hand, when the monitoring target is a person, monitoring with a camera or the like may not be appropriate from the viewpoint of privacy protection. It is necessary to select the sensor in consideration of this point. In addition, in the target detection by the millimeter-wave radar, the person to be monitored can be acquired not by an image but by a signal that can be said to be a shadow thereof. Therefore, the millimeter-wave radar, from the viewpoint of privacy protection,
It is a desirable sensor.

The caregiver information obtained by the sensor unit 1010 is sent to the main body unit 1100 via the communication line 1300. The sensor unit 1010 collects other information required for higher-level recognition processing and control (for example, reference data necessary for accurately recognizing the target information of the caregiver), and the necessary information based on these. Control instructions, etc. are given. Here, the necessary control instruction includes, for example, an instruction to directly notify the administrator based on the detection result. Further, the processing unit 1101 of the main body unit 1100 may cause the built-in high-level recognition device that employs a technique such as deep learning to recognize the detected target. The altitude recognition device may be arranged outside. In that case, the altitude recognition device may be connected by the communication line 1300.

When a person is monitored by the millimeter wave radar, at least the following two functions can be added.

The first function is a heart rate/respiration rate monitoring function. In the millimeter wave radar, electromagnetic waves can penetrate the clothes and detect the position and movement of the skin surface of the human body. The processing unit 1101 first detects a person to be monitored and its outer shape. Next, for example, when detecting the heart rate, the position of the body surface where the movement of the heartbeat is easily detected is specified, and the movement thereof is detected in time series. Thereby, for example, the heart rate for 1 minute can be detected. The same applies when detecting the respiratory rate. By using this function, the health condition of the caregiver can be constantly checked, and it is possible to monitor the caregiver with higher quality.

The second function is a fall detection function. Caregivers such as the elderly may fall due to weakened legs. When a person falls, the speed or acceleration of a specific part of the human body, such as the head, becomes a certain value or more. When a person is monitored by a millimeter wave radar, the relative velocity or acceleration of the target object can be constantly detected. Therefore, for example, by identifying the head as a monitoring target and detecting the relative speed or acceleration of the head in time series, it is possible to recognize that the person has fallen when a speed equal to or higher than a certain value is detected. When recognizing a fall, the processing unit 1101 can issue an instruction or the like corresponding to appropriate care support, for example.

It should be noted that in the monitoring system and the like described above, the sensor unit 1010 is fixed at a fixed position. However, it is also possible to install the sensor unit 1010 in a moving body such as a robot, a vehicle, a flying body such as a drone, or the like. Here, the vehicle and the like include not only an automobile but also a small moving body such as an electric wheelchair. In this case, this mobile unit may have a GPS unit built-in for always confirming its own current position. In addition, the mobile body may have a function of further improving the accuracy of its current position by using the map information and the map update information described for the fifth processing apparatus.

Furthermore, in the above-described devices or systems similar to the first to third detection devices, the first to sixth processing devices, the first to fifth monitoring systems, etc., the same configurations as these should be used. Then, the array antenna or the millimeter wave radar according to the embodiment of the present disclosure can be used.

<Application 3: Communication system>
[First Example of Communication System]
INDUSTRIAL APPLICABILITY The waveguide device and the antenna device (array antenna) according to the present disclosure can be used for a transmitter and/or a receiver included in a communication system. Since the waveguide device and the antenna device according to the present disclosure are configured by using the laminated conductive members, the size of the transmitter and/or the receiver can be reduced as compared with the case of using the hollow waveguide. it can. Further, since a dielectric is not required, it is possible to suppress the dielectric loss of electromagnetic waves to be small as compared with the case where a microstrip line is used. Therefore, it is possible to construct a communication system including a compact and highly efficient transmitter and/or receiver.

Such a communication system may be an analog communication system that directly modulates and transmits an analog signal. However, if it is a digital communication system, it is possible to construct a more flexible and high-performance communication system.

Hereinafter, the digital communication system 800A using the waveguide device and the antenna device according to the embodiment of the present disclosure will be described with reference to FIG. 45.

FIG. 45 is a block diagram showing the configuration of the digital communication system 800A. The communication system 800A includes a transmitter 810A and a receiver 820A. The transmitter 810A includes an analog/digital (A/D) converter 812, an encoder 813, a modulator 814, and a transmission antenna 815. The receiver 820A includes a reception antenna 825, a demodulator 824, a decoder 823, and a digital/analog (D/A) converter 822. At least one of the transmitting antenna 815 and the receiving antenna 825 may be realized by the array antenna according to the embodiment of the present disclosure. In this application example, a circuit including the modulator 814, the encoder 813, the A/D converter 812, and the like connected to the transmission antenna 815 is referred to as a transmission circuit. A circuit including a demodulator 824, a decoder 823, a D/A converter 822, and the like connected to the receiving antenna 825 is referred to as a receiving circuit. The transmission circuit and the reception circuit may be collectively referred to as a communication circuit.

The transmitter 810A converts an analog signal received from the signal source 811 into a digital signal by an analog/digital (A/D) converter 812. The digital signal is then encoded by the encoder 813. Here, encoding refers to manipulating a digital signal to be transmitted and converting it into a form suitable for communication. Examples of such encoding include CDM (Code-Division Multiplexing) and the like. In addition, a conversion for performing TD (Time-Division Multiplexing), FDM (Frequency Division Multiplexing), or OFDM (Orthogonal Frequency Division Multiplexing) is also an example of this encoding. The encoded signal is converted into a high frequency signal by the modulator 814 and transmitted from the transmission antenna 815.

In the field of communication, a wave representing a signal superimposed on a carrier may be referred to as a “signal wave”, but the term “signal wave” in this specification is not used in such a meaning. The “signal wave” in this specification broadly means an electromagnetic wave propagating in a waveguide and an electromagnetic wave transmitted/received using an antenna element.

The receiver 820A restores the high frequency signal received by the receiving antenna 825 to a low frequency signal by the demodulator 824 and restores it to a digital signal by the decoder 823. The decoded digital signal is converted into an analog signal by the digital/analog (D/A) converter 822 and sent to the data sink (data receiving device) 821. Through the above processing, a series of transmission and reception processes are completed.

When the subject of communication is a digital device such as a computer, analog/digital conversion of a transmission signal and digital/analog conversion of a reception signal are unnecessary in the above processing. Therefore, the analog/digital converter 812 and the digital/analog converter 822 in FIG. 45 can be omitted. A system having such a configuration is also included in the digital communication system.

In a digital communication system, various methods are used to secure signal strength or expand communication capacity. Many of such methods are also effective in a communication system using radio waves in the millimeter wave band or terahertz band.

Radio waves in the millimeter wave band or terahertz band have higher straightness than radio waves of lower frequency, and the diffraction that wraps around behind the obstacle is small. Therefore, in many cases, the receiver cannot directly receive the radio wave transmitted from the transmitter. Even in such a situation, the reflected wave can often be received, but since the quality of the reflected wave radio signal is often inferior to the direct wave, stable reception becomes more difficult. In addition, a plurality of reflected waves may arrive through different routes. In this case, received waves having different path lengths have different phases from each other, which causes multi-path fading.

A technique called antenna diversity can be used as a technique for improving such a situation. In this technique, at least one of the transmitter and the receiver includes a plurality of antennas. If the distances between the plurality of antennas differ by about a wavelength or more, the states of the received waves differ. Therefore, the antenna that allows the highest quality of transmission and reception is selected and used. By doing so, the reliability of communication can be improved. In addition, signals obtained from a plurality of antennas may be combined to improve signal quality.

In the communication system 800A shown in FIG. 45, the receiver 820A may include a plurality of receiving antennas 825, for example. In this case, a switch is interposed between the plurality of receiving antennas 825 and the demodulator 824. The receiver 820A connects the demodulator 824 with the antenna that can obtain the highest quality signal from the plurality of receiving antennas 825 by the switch. In this example, the transmitter 810A may include a plurality of transmitting antennas 815.

[Second Example of Communication System]
FIG. 46 is a block diagram showing an example of a communication system 800B including a transmitter 810B capable of changing the radiation pattern of radio waves. In this application, the receiver is the same as receiver 820A shown in FIG. For this reason, the receiver is not shown in FIG. The transmitter 810B has an antenna array 815b including a plurality of antenna elements 8151 in addition to the configuration of the transmitter 810A. Antenna array 815b may be an array antenna in the embodiments of the present disclosure. The transmitter 810B further includes a plurality of phase shifters (PS) 816 that are respectively connected between the plurality of antenna elements 8151 and the modulator 814. In this transmitter 810B, the output of the modulator 814 is sent to a plurality of phase shifters 816, where it is given a phase difference and guided to a plurality of antenna elements 8151. In the case where a plurality of antenna elements 8151 are arranged at equal intervals, when a high-frequency signal having a phase different from the adjacent antenna elements by a certain amount is supplied to each antenna element 8151, the antenna elements are adjusted according to the phase difference. The main lobe 817 of the array 815b faces in a direction tilted from the front. This method is sometimes called beam forming.

The azimuth of the main lobe 817 can be changed by variously changing the phase difference provided by each phase shifter 816. This method is sometimes called beam steering. The reliability of communication can be improved by finding the phase difference that gives the best transmission/reception status. Note that, here, the example in which the phase difference provided by the phase shifter 816 is constant between the adjacent antenna elements 8151 has been described, but the invention is not limited to such an example. Further, not only the direct wave but also the phase difference may be added so that the radio wave is emitted in the direction in which the reflected wave reaches the receiver.

In the transmitter 810B, a method called null steering can also be used. This refers to a method of adjusting the phase difference to create a state where radio waves are not emitted in a specific direction. By performing the null steering, it is possible to suppress radio waves emitted toward other receivers that do not want to transmit radio waves. Thereby, interference can be avoided. Digital communication using millimeter waves or terahertz waves can use a very wide frequency band, but it is still preferable to use the band as efficiently as possible. If null steering is used, a plurality of transmissions and receptions can be performed in the same band, so that the band utilization efficiency can be improved. A method of increasing the band utilization efficiency by using techniques such as beam forming, beam steering, and null steering is sometimes called SDMA (Spatial Division Multiple Access).

[Third example of communication system]
A method called MIMO (Multiple-Input and Multiple-Output) can also be applied to increase the communication capacity in a specific frequency band. In MIMO, multiple transmit antennas and multiple receive antennas are used. Radio waves are radiated from each of the plurality of transmitting antennas. In one example, different signals can be superimposed on the emitted radio waves. Each of the plurality of receiving antennas receives the plurality of transmitted radio waves. However, different receiving antennas receive radio waves arriving via different routes, and thus the phases of the received radio waves differ. By utilizing this difference, it is possible to separate a plurality of signals included in a plurality of radio waves on the receiver side.

The waveguide device and the antenna device according to the present disclosure can also be used in a communication system using MIMO. Hereinafter, an example of such a communication system will be described.

FIG. 47 is a block diagram showing an example of a communication system 800C equipped with a MIMO function. In the communication system 800C, the transmitter 830 includes an encoder 832, a TX-MIMO processor 833, and two transmitting antennas 8351 and 8352. The receiver 840 includes two receiving antennas 8451 and 8452, an RX-MIMO processor 843, and a decoder 842. The number of each of the transmitting antennas and the receiving antennas may be more than two. Here, for simplicity of explanation, two examples are taken for each antenna. Generally, the communication capacity of a MIMO communication system increases in proportion to the smaller number of transmitting antennas and receiving antennas.

Upon receiving the signal from the data source 831, the transmitter 830 encodes the signal for transmission by the encoder 832. The encoded signal is distributed by the TX-MIMO processor 833 to the two transmitting antennas 8351 and 8352.

In the processing method in one example of the MIMO system, the TX-MIMO processor 833 divides the sequence of the coded signal into two, which is the same number as the number of the transmitting antennas 8352, and transmits the transmitting antennas 8351 and 8352 in parallel. Send to. The transmitting antennas 8351 and 8352 each radiate a radio wave including information of a plurality of divided signal sequences. When the number of transmitting antennas is N, the signal sequence is divided into N. The radiated radio wave is simultaneously received by both of the two receiving antennas 8451 and 8452. That is, the radio waves received by each of the receiving antennas 8451 and 8452 include a mixture of two signals divided at the time of transmission. The separation of this mixed signal is performed by the RX-MIMO processor 843.

The two mixed signals can be separated, for example, by focusing on the phase difference between radio waves. Phase difference between two radio waves when the reception antennas 8451 and 8452 receive the radio waves that arrive from the transmission antenna 8351 and phase difference between the two radio waves when the reception antennas 8451 and 8452 receive the radio waves that arrive from the transmission antenna 8352. Different from That is, the phase difference between the receiving antennas differs depending on the transmission/reception path. In addition, the phase difference between the transmitting antenna and the receiving antenna does not change unless the spatial arrangement relationship between them changes. Therefore, the signals received through the transmission/reception paths can be extracted by shifting the reception signals received by the two reception antennas by the phase difference determined by the transmission/reception paths to obtain correlation. The RX-MIMO processor 843 separates the two signal trains from the received signal and recovers the signal train before being divided by this method, for example. The recovered signal sequence, which is still in the encoded state, is sent to the decoder 842 where it is restored to the original signal. The restored signal is sent to the data sink 841.

The MIMO communication system 800C in this example transmits and receives digital signals, but a MIMO communication system that transmits and receives analog signals can also be realized. In that case, the analog/digital converter and the digital/analog converter described with reference to FIG. 45 are added to the configuration of FIG. The information used to distinguish the signals from different transmitting antennas is not limited to the information on the phase difference. In general, when the combination of the transmitting antenna and the receiving antenna is different, the received radio waves may have different situations such as scattering or fading in addition to the phase. These are collectively called CSI (Channel State Information). CSI is used to distinguish different transmission/reception paths in a system using MIMO.

In addition, it is not an essential condition that the plurality of transmitting antennas radiate the transmitting waves including the independent signals. Each transmitting antenna may radiate a radio wave containing a plurality of signals as long as it can be separated on the receiving antenna side. It is also possible to perform beamforming on the transmitting antenna side and form a transmitting wave containing a single signal on the receiving antenna side as a composite wave of radio waves from each transmitting antenna. is there. Also in this case, each transmitting antenna is configured to radiate a radio wave including a plurality of signals.

Also in the third example, as in the first and second examples, various methods such as CDM, FDM, TDM, and OFDM can be used as a signal encoding method.

In a communication system, a circuit board on which an integrated circuit (referred to as a signal processing circuit or a communication circuit) for processing a signal is mounted can be stacked and disposed on the waveguide device and the antenna device according to the embodiments of the present disclosure. .. Since the waveguide device and the antenna device according to the embodiment of the present disclosure have a structure in which plate-shaped conductive members are stacked, it is easy to arrange the circuit boards to be stacked on them. With such an arrangement, it is possible to realize a transmitter and a receiver having a small volume as compared with the case where a hollow waveguide or the like is used.

In the first to third examples of the communication system described above, analog/digital converters, digital/analog converters, encoders, decoders, modulators, demodulators that are constituent elements of transmitters or receivers The device, the TX-MIMO processor, the RX-MIMO processor, and the like are shown as independent elements in FIGS. 45, 46, and 47, but they do not necessarily have to be independent. For example, all of these elements may be realized by one integrated circuit. Alternatively, only some of the elements may be integrated and realized by one integrated circuit. In any case, it can be said that the present invention is implemented as long as the functions described in the present disclosure are realized.

As described above, the present disclosure includes the waveguide device, the antenna device, the radar device, the radar system, and the communication system described in the following items.

[Item 1]
A waveguide device used for propagating an electromagnetic wave in a band in which the shortest wavelength is λm in free space,
A first conductive member having a conductive surface and a first through hole;
A second through hole that overlaps the first through hole when viewed along the axial direction of the first through hole, and a plurality of conductive rods each having a tip end facing the conductive surface. A second conductive member having;
A pair of conductive waveguide walls positioned with at least a part of a space between the first through hole and the second through hole interposed therebetween, which is surrounded by the plurality of conductive rods. A pair of waveguide walls that propagate electromagnetic waves between the first through hole and the second through hole,
Equipped with
A cross section perpendicular to the axial direction of at least one of the first through hole and the second through hole has a lateral portion extending in the first direction,
The pair of waveguide walls are arranged in a second direction intersecting the first direction when viewed along the axial direction, and are located on both sides of a central portion of the lateral portion,
At least one end of the pair of waveguide walls in the first direction and at least one end of the other of the pair of waveguide walls in the first direction face each other with a gap therebetween. Then
The height of each of the pair of waveguide walls is less than λm/2.
Waveguide device.

[Item 2]
A cross section of the at least one of the first through hole and the second through hole, which is perpendicular to the axial direction, has a pair of vertical portions extending from both ends of the lateral portion in a direction intersecting with the first direction. In addition,
The pair of vertical portions is surrounded by the plurality of conductive rods,
The waveguide device according to item 1.

[Item 3]
Item 3. The item 1 or 2, wherein the size of the gap between the waveguide wall and the conductive rod closest to each of the pair of waveguide walls among the plurality of conductive rods is less than λm/2. Waveguide device.

[Item 4]
When the central wavelength in the free space of the band is λo,
4. The waveguide device according to any one of Items 1 to 3, wherein the thickness of each of the pair of waveguide walls in the second direction is λo/16 or more and 1.2λo/4 or less.

[Item 5]
5. The waveguide according to any one of Items 1 to 4, wherein each of the first through hole and the second through hole has a cross section perpendicular to the axial direction having a lateral portion extending in the first direction. apparatus.

[Item 6]
6. The waveguide device according to any one of Items 1 to 5, wherein the first through hole is a slot that functions as a radiating element used for at least one of transmission and reception of electromagnetic waves.

[Item 7]
7. The waveguide device according to any one of Items 1 to 6, wherein the pair of waveguide walls are connected to at least one of the first conductive member and the second conductive member.

[Item 8]
There is a gap between the pair of waveguide walls and the first conductive member or the second conductive member,
8. The waveguide device according to any one of Items 1 to 7, wherein a thickness of each top surface of the pair of waveguide walls in the second direction is less than λm/2.

[Item 9]
The pair of waveguide walls are connected to the second conductive member,
9. The waveguide device according to any one of Items 1 to 8, wherein the height of each of the pair of waveguide walls is the same as the height of each of the plurality of conductive rods.

[Item 10]
Each of the pair of waveguide walls is divided into a first portion connected to the first conductive member and a second portion connected to the second conductive member, from item 1 9. The waveguide device according to any one of 9.

[Item 11]
There is a gap between the first portion and the second portion,
The sum of the height of the first portion, the height of the second portion and the length of the gap is less than λm/2,
The thickness of the top surface of the first portion in the second direction is less than λm/2,
The thickness of the top surface of the second portion in the second direction is less than λm/2,
Item 11. The waveguide device according to Item 10.

[Item 12]
12. The waveguide device according to any one of Items 1 to 11, wherein each of the pair of waveguide walls has the same shape as each of the plurality of conductive rods.

[Item 13]
The second conductive member has a conductive surface on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes
A third through hole that overlaps with the second through hole when viewed along the axial direction of the second through hole, and a tip portion that respectively faces the conductive surface of the second conductive member. A third conductive member having a second plurality of conductive rods, and
It is a pair of other waveguide walls which pinch|interpose at least one part of the space between the said 2nd through-hole and the said 3rd through-hole between them, Comprising: A pair of other waveguide walls that are surrounded and that propagate the electromagnetic wave between the second through hole and the third through hole;
Equipped with
The height of each of the other waveguide walls of the pair is less than λm/2,
13. The waveguide device according to any one of Items 1 to 12.

[Item 14]
The second conductive member has a second plurality of conductive rods on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes
A third conductive member having a third through hole that overlaps with the second through hole when viewed along the axial direction of the second through hole,
It is a pair of other waveguide walls which pinch|interpose at least one part of the space between the said 2nd through-hole and the said 3rd through-hole between them, Comprising: A pair of other waveguide walls that are surrounded and that propagate the electromagnetic wave between the second through hole and the third through hole;
Equipped with
The third conductive member has a conductive surface on the side of the second conductive member,
The tip of each of the second plurality of conductive rods faces the conductive surface of the third conductive member,
The height of each of the other waveguide walls of the pair is less than λm/2,
13. The waveguide device according to any one of Items 1 to 12.

[Item 15]
The second conductive member has a conductive surface on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes a third conductive member,
The third conductive member is
A waveguide member having a conductive waveguide surface facing the conductive surface of the second conductive member;
A second plurality of conductive rods each having a tip facing the conductive surface of the second conductive member and located on opposite sides of the waveguide member;
Have
The waveguide surface faces the second through hole at any part thereof,
13. The waveguide device according to any one of Items 1 to 12.

[Item 16]
The second conductive member has a second plurality of conductive rods and a waveguide member having a conductive waveguide surface on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes a third conductive member having a conductive surface facing the tip end portions of the second plurality of conductive rods and the waveguide surface,
The second through hole opens in any part of the waveguide surface of the waveguide member,
13. The waveguide device according to any one of Items 1 to 12.

[Item 17]
On the side opposite to the side of the second conductive member with respect to the first conductive member, another conductive member having a conductive surface is further provided.
The first conductive member,
A waveguide member having a conductive waveguide surface facing the conductive surface of the other conductive member, the waveguide member propagating an electromagnetic wave propagating in the first through hole,
A plurality of conductive rods each having a tip portion facing the conductive surface of the other conductive member, and located on both sides of the waveguide member;
Has,
The waveguide device according to any one of Items 1 to 16.

[Item 18]
The waveguide device according to any one of Items 1 to 17,
At least one radiating element connected to the waveguide between the pair of waveguide walls in the waveguide device and used for at least one of transmission and reception;
An antenna device provided with.

[Item 19]
An antenna device according to item 18,
A microwave integrated circuit connected to the antenna device;
Radar device including a.

[Item 20]
A radar device according to item 19;
A signal processing circuit connected to the microwave integrated circuit of the radar;
Radar system including.

[Item 21]
An antenna device according to item 18,
A communication circuit connected to the antenna device,
A wireless communication system including.

INDUSTRIAL APPLICABILITY The waveguide device and the antenna device of the present disclosure can be used in all technical fields using an antenna. For example, it can be used for various applications for transmitting and receiving electromagnetic waves in the gigahertz band or terahertz band. In particular, it can be used for in-vehicle radar systems, various monitoring systems, indoor positioning systems, wireless communication systems, etc. that are required to be miniaturized.

100 waveguide device 110 first conductive member 110a first conductive member conductive surface 112 slot 114 horn sidewall 120 second conductive member 120a second conductive member conductive surface 122, 122U, 122M, 122L Wave member 122a Waveguide surface 124, 124U, 124M, 124L Conductive rod 124a Conductive rod tip portion 124b Conductive rod base portion 125 Artificial magnetic conductor surface 130 Hollow waveguide 132 Hollow waveguide inner space 140 Third Conductive member 145, 145L, 145M, 145U port 200 waveguide device 203 waveguide wall 203T horizontal portion 203L of waveguide wall opening vertical portion 210 of waveguide wall opening 210 first conductive member 211 first through hole 203 Waveguide wall 203a Waveguide wall first portion 203b Waveguide wall second portion 220 Second conductive member 221 Second through hole 230 Third conductive member 240, 250 Other conductive member 253 Other conductor Wave wall 253a First portion of other waveguide wall 253b Second portion of other waveguide wall 290 Electronic circuit 500 Own vehicle 502 Preceding vehicle 510 In-vehicle radar system 520 Driving support electronic control device 530 Radar signal processing device 540 Communication Device 550 Computer 552 Database 560 Signal processing circuit 570 Object detection device 580 Transmission/reception circuit 596 Selection circuit 600 Vehicle running control device 700 Vehicle-mounted camera system 710 Camera 720 Image processing circuit 800A, 800B, 800C Communication system 810A, 810B, 830 Transmitter 820A, 840 Receiver 813, 832 Encoder 823, 842 Decoder 814 Modulator 824 Demodulator 1010, 1020 Sensor section 1011, 1021 Antenna 1012, 1022 Millimeter wave radar detection section 1013, 1023 Communication section 1015, 1025 Monitoring target 1100 Main body Unit 1101 Processing unit 1102 Data storage unit 1103 Communication unit 1200 Other system 1300 Communication line 1500 Monitoring system

Claims (19)

A waveguide device used for propagating an electromagnetic wave in a band in which the shortest wavelength is λm in free space,
A first conductive member having a conductive surface and a first through hole;
A second through hole that overlaps the first through hole when viewed along the axial direction of the first through hole, and a plurality of conductive rods each having a tip end facing the conductive surface. A second conductive member having;
A pair of conductive waveguide walls positioned with at least a part of a space between the first through hole and the second through hole interposed therebetween, which is surrounded by the plurality of conductive rods. A pair of waveguide walls that propagate electromagnetic waves between the first through hole and the second through hole,
Equipped with
A cross section perpendicular to the axial direction of at least one of the first through hole and the second through hole has a lateral portion extending in the first direction,
The pair of waveguide walls are arranged in a second direction intersecting the first direction when viewed along the axial direction, and are located on both sides of a central portion of the lateral portion,
At least one end of the pair of waveguide walls in the first direction and at least one end of the other pair of the waveguide walls in the first direction face each other with a gap therebetween. Then
The height of each of the pair of waveguide walls is less than λm/2.
Waveguide device. A cross section of the at least one of the first through hole and the second through hole, which is perpendicular to the axial direction, has a pair of vertical portions extending from both ends of the lateral portion in a direction intersecting with the first direction. In addition,
The pair of vertical portions is surrounded by the plurality of conductive rods,
The waveguide device according to claim 1. The size of a gap between the waveguide rod and the conductive rod closest to each of the pair of waveguide walls among the plurality of conductive rods is less than λm/2. Waveguide device. When the central wavelength in the free space of the band is λo,
The waveguide device according to claim 1, wherein a thickness of each of the pair of waveguide walls in the second direction is λo/16 or more and 1.2λo/4 or less. The conductor according to any one of claims 1 to 4, wherein a cross section of each of the first through hole and the second through hole, which is perpendicular to the axial direction, has a lateral portion extending in the first direction. Waveguide device. The waveguide device according to claim 1, wherein the first through hole is a slot that functions as a radiating element used for at least one of transmission and reception of electromagnetic waves. The waveguide device according to claim 1, wherein the pair of waveguide walls are connected to at least one of the first conductive member and the second conductive member. There is a gap between the pair of waveguide walls and the first conductive member or the second conductive member,
The waveguide device according to claim 1, wherein a thickness of each top surface of the pair of waveguide walls in the second direction is less than λm/2. The pair of waveguide walls are connected to the second conductive member,
The waveguide device according to claim 1, wherein a height of each of the pair of waveguide walls is the same as a height of each of the plurality of conductive rods. Each of the pair of waveguide walls is divided into a first portion connected to the first conductive member and a second portion connected to the second conductive member. 10. The waveguide device according to any one of 9 to 9. There is a gap between the first portion and the second portion,
The sum of the height of the first portion, the height of the second portion and the length of the gap is less than λm/2,
The thickness of the top surface of the first portion in the second direction is less than λm/2,
The thickness of the top surface of the second portion in the second direction is less than λm/2,
The waveguide device according to claim 10. The waveguide device according to any one of claims 1 to 11, wherein the shape of each of the pair of waveguide walls is the same as the shape of each of the plurality of conductive rods. The second conductive member has a conductive surface on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes
A third through hole that overlaps with the second through hole when viewed along the axial direction of the second through hole, and a tip portion that respectively faces the conductive surface of the second conductive member. A third conductive member having a second plurality of conductive rods, and
It is a pair of other waveguide walls which pinch|interpose at least one part of the space between the said 2nd through-hole and the said 3rd through-hole between them, Comprising: A pair of other waveguide walls that are surrounded and that propagate the electromagnetic wave between the second through hole and the third through hole;
Equipped with
The height of each of the other waveguide walls of the pair is less than λm/2,
The waveguide device according to any one of claims 1 to 12. The second conductive member has a second plurality of conductive rods on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes
A third conductive member having a third through hole that overlaps with the second through hole when viewed along the axial direction of the second through hole,
It is a pair of other waveguide walls which pinch|interpose at least one part of the space between the said 2nd through-hole and the said 3rd through-hole between them, Comprising: A pair of other waveguide walls that are surrounded and that propagate the electromagnetic wave between the second through hole and the third through hole;
Equipped with
The third conductive member has a conductive surface on the side of the second conductive member,
The tip of each of the second plurality of conductive rods faces the conductive surface of the third conductive member,
The height of each of the other waveguide walls of the pair is less than λm/2,
The waveguide device according to any one of claims 1 to 12. The second conductive member has a conductive surface on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes a third conductive member,
The third conductive member is
A waveguide member having a conductive waveguide surface facing the conductive surface of the second conductive member;
A second plurality of conductive rods each having a tip facing the conductive surface of the second conductive member and located on opposite sides of the waveguide member;
Have
The waveguide surface faces the second through hole at any part thereof,
The waveguide device according to any one of claims 1 to 12. The second conductive member has a second plurality of conductive rods and a waveguide member having a conductive waveguide surface on a side opposite to the side of the plurality of conductive rods,
The waveguide device further includes a third conductive member having a conductive surface facing the tip end portions of the second plurality of conductive rods and the waveguide surface,
The second through hole opens in any part of the waveguide surface of the waveguide member,
The waveguide device according to any one of claims 1 to 12. On the side opposite to the side of the second conductive member with respect to the first conductive member, another conductive member having a conductive surface is further provided.
The first conductive member,
A waveguide member having a conductive waveguide surface facing the conductive surface of the other conductive member, the waveguide member propagating an electromagnetic wave propagating in the first through hole,
A plurality of conductive rods each having a tip portion facing the conductive surface of the other conductive member, and located on both sides of the waveguide member;
Has,
The waveguide device according to any one of claims 1 to 16. A waveguide device according to any one of claims 1 to 17,
At least one radiating element connected to the waveguide between the pair of waveguide walls in the waveguide device and used for at least one of transmission and reception;
An antenna device provided with. An antenna device according to claim 18,
A microwave integrated circuit connected to the antenna device;
Radar device including a.

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